| 摘要 |
PURPOSE:To naturally and speedily bring a travel vehicle near an optimum route at the shortest distance by setting a correction quantity in the direction of a Y-axis to be much with the direction of travel as an X-axis in a present position at a long distance from the optimum route and increasing/decreasing the correction quantity in the rotary direction of the travel vehicle as it approaches the optimum route. CONSTITUTION:A deviation in the direction of the Y-axis at the present position as against a target position at the prescribed sampling time of the travel vehicle 1 where the direction of travel is set to be the direction of the X-axis is assumed to be DELTAY, and the deviation of the rotary direction of the travel vehicle 1 to be DELTAtheta. The correction quantity of DELTAY is made larger than the correction quantity of DELTAthetain a range where DELTAY is larger and the correction quantity of DELTAtheta is made larger as DELTAY becomes smaller. Namely, correction in the direction of travel is taken large when the travel vehicle 1 is at a long distance from the target position of the optimum route and the correction of the rotary direction is made moderate. The correction of the rotary direction is made large in the position near the target position, the correction of the direction of travel is made moderate and the travel vehicle is gradually brought near the target position and direction. Thus, the vehicle can be corrected to the target position and direction of the optimum route at the shortest time and route. |
