| 摘要 |
PROBLEM TO BE SOLVED: To provide an automated guided vehicle controller which can smoothly reach its set course even when the vehicle gets large out of the set course. SOLUTION: In an automated guided vehicle which adjusts its steering angleθaccording to the course deviation d, i.e., the length set distant from the vehicle body on the basis of the set course A, the deviation d is defined as the length that is set from the front wheel of the vehicle to the course A at a virtual point P set in the traveling direction of the vehicle and also the position of the point P is proportional to the traveling velocity v.
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