| 摘要 |
PROBLEM TO BE SOLVED: To prevent the meander of a traveling locus in reciprocating travel following the operation in a working zone and to enable sure and efficient working travel. SOLUTION: A control gain in a reaping track following travel control based on data from a reaping track boundary detecting part 52 is made into a small value and steering control is carried out corresponding to difference between a target angle in the reaping track following travel control and a traveling direction detected by a terrestrial magnetism 4. Consequently, the hunting of a steering system caused by the nonuniformity weeds and lawn grass and the unevenness of geographical features is avoided, the meander of a traveling locus is prevented and the deviation from detected width of the reaping boundary is checked. |
