| 摘要 |
<p>PROBLEM TO BE SOLVED: To execute slipless stable traveling at the time of executing programmed steering control on a traveling route having no guide line. SOLUTION: An automated guided vehicle 1 detects guide lines 10a, 10b on respective traveling routes on which the guide lines 10a, 10b are respectively laid and executes guide steering control so as to travel along the guide lines 10a, 10b. In a section B having no guide line, the vehicle 1 reads out a steering angle corresponding to a traveling distance from a program and executes program steering control so as to conform the read angle. When acceleration obtained by differentiating the read steering angle twice is larger than a set angle, traveling speed is reduced to prevent the occurrence of slip.</p> |
