| 摘要 |
PROBLEM TO BE SOLVED: To improve the accuracy of traveling control concerning an AGV which detects magnetic forces from magnets laid along with a traveling route line with two magnetic force detectors at different forward and backward positions, detects the lateral displacing amount from the traveling route line at two forward and backward positions based on that detection, and automatically travels along the traveling route line while automatically steering based on the detected lateral displacing amount. SOLUTION: The AGV 16 is provided with magnetic force detectors 17, 18, 19 and 20 successively from the front side. The longitudinal distance among the magnetic force detectors 17-20 is extended rather than a longitudinal distance between the magnetic force detectors 18 and 19. When detecting the lateral displacing amount, during the traveling along with straight part and curved part, the detected amounts of magnetic force detectors 17 and 20 and magnetic force detectors 18 and 19 are respectively adopted.
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