| 摘要 |
PROBLEM TO BE SOLVED: To determine a travel route according to instructed passage points through spline interpolation, to find an external wheel speed from an instructed travel time so that an unmanned vehicle can travel in the travel route while the external wheel speed is held constant, and to find an internal wheel speed by correcting the found external wheel speed with the curvature of the route. SOLUTION: The unmanned vehicle travels along a curve while the external wheel speed is held constant and acceleration is small; and an instructed travel time can be kept and energy consumption is small.
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