| 摘要 |
PROBLEM TO BE SOLVED: To provide an autonomous moving controller for a movable body which is capable of autonomously moving the movable body from the current position to a destination by a simple control at a low cost. SOLUTION: The autonomous moving controller receives reference marks Ha for transmitting signals from different points and signals from recognizing marks Hb, Hc by an antenna 6 of the movable body 3, sets the position of a destination P2 from angles of a line from the destination P2 to the reference mark Ha making with lines from P2 to the marks Hb, Hc on the assumption of a constitution for controlling the running direction of the movable body 3, detects the current position of the movable body 3 from the angles of the reference mark Ha making with the recognizing marks Hb, Hc received by the antenna 6, repeats correction of the running direction of the movable body 3 so as to reduce the difference between the angle of the current position and the angle of the destination, thereby orienting the movable body 3 to the destination P2. Thus only the process of reducing the angle difference realizes a self- contained running of the movable body 3.
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