| 摘要 |
PURPOSE: To perform travel control over a teaching type autonomous travel vehicle which is of simple constitution and easily operated. CONSTITUTION: The travel control over the teaching type travel vehicle 1 which uses visual servo is performed. The moving body is provided with one CCD camera 10 so that it can angularly be displaced around a longitudinal axis through a tripod; when teaching, two landmarks 16 and 17 whose positions are unknown are picked up in one visual field while the camera 10 is fixed to the moving body to make a travel along a predetermined course, and the landmarks are stored in a memory. For a playback travel, the land marks 16 and 17 are picked up by the camera 10, the tripod of the camera 10 is brought under angular displacement control, and the direction of the camera 10 is matched with the teaching state. Then steering control is so performed that the position shift from the teaching state becomes zero. This control is repeated to make the travel vehicle 1 gradually return to a taught course and travels along the taught course 18. |
