| 摘要 |
<p>PROBLEM TO BE SOLVED: To enable the three-wheel steered unmanned carrier to travel even on a narrow path by reducing an overshoot under steering control for a travel along a guide, shortening a correction distance, and making vehicle body attitude angle movement small. SOLUTION: Steering is carried out by calculating and controlling the steering anglesθ1,θ2, andθ3 of a driving and steering wheel 1, a load wheel right wheel 2, and a left wheel 3 by using a lateral deviation angleδas a parameter. Consequently, the correction distance becomes short, the vehicle body attitude angle movement and overshoot are reduced, and lateral shakes become small; and then the vehicle body track becomes small and a stable travel even on a narrow path becomes possible.</p> |
