| 摘要 |
The present invention is directed to a method of and an apparatus for guiding a moving object such as an unattended transporting vehicle traveling in a factory to travel along a preset traveling path including curves. In this method, curves in the traveling path are approximated to a series of circular arcs, each of which is set by the center, radius and gyrating angle of the circular arc, to detect a present attitude which is the present traveling position and moving direction of the moving object, determining a target attitude by the position of an intersecting point of a straight line, connecting the center of circular arc and the present traveling position of the moving object, with the circular arc, and the tangent direction on the intersecting point, setting a target position to be traveled on the basis of a guide error quantity including the positional deviation and directional deviation between the target attitude and present attitude of the moving object, calculating a radius of gyration from the present attitude to the target position set, and controlling the traveling of moving object by the calculated radius of gyration, thereby the moving object can be guided reliably even on the curved traveling path. |
