| 摘要 |
PURPOSE: To perform exact travel by detecting the amounts of deviations from a guide line at two fixed points before and behind a traveling object with the passage of time, calculating manipulated variables by calculating a deviation angle, deviation angular velocity and offset correction amount, and controlling the amount of deviation to '0' by applying velocity difference between left and right traveling motors using these manipulated variables. CONSTITUTION: The traveling motors are provided to respectively drive left and right axles, and the traveling object travels along the guide line drawn on the surface of a road. Amounts x1 and x2 of deviations from the guide line at two fixed points before and behind the traveling object are detected every moment. A deviation angleθto the guide line, deviation angular velocityθ' and offset correction amount are calculated while using the detected values x1 and x2 on condition of x=x1 , x=x2 or x=(x1 +x2 )/2. Based on these results, a manipulated variableΔ' is calculated by an expression and the velocity of the left side or right side traveling motor is respectively controlled by using this manipulated variableΔ'. Thus, the deviation amount is controlled to x1 =x2 =0 by applying the velocity difference between the left and right traveling motors.
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