AUTOMATED GUIDED VEHICLE

摘要

PURPOSE:To provide the automated guided vehicle which can convey heavy objects and improves traveling stability although a miniaturized traveling wheel device is provided. CONSTITUTION:Four pieces of double wheel type traveling wheel devices 3 are constituted in an independent driving/independent steering system, and guide sensors 5 are respectively provided between both the wheels at each traveling wheel device 3. Further, this vehicle mounts a controller for traveling the vehicle while detecting one guiding object 4 laid on a traveling course with the guide sensors 5 at the front parts and rear parts of a traveling direction, grasping the attitude of a vehicle body based on the signals of both the guide sensors 5, outputting a proper driving command by selecting optimum control constants at every time point for the steering speed and traveling speed of each traveling wheel device 3 to be changed with the passage of time within a control loop, and further correcting out the optimum driving command by arithmetically comparing data fed back from the travel driving mechanisms and steering mechanisms of the respective traveling wheel devices 3, which are driven based on that proper driving command, in a fixed cycle with the signals of both the guide sensors and comparing the optimum control constant corresponding to the traveling conditions to be changed with the passage of time with target values within the control loop again.