| 摘要 |
PCT No. PCT/JP94/02044 Sec. 371 Date May 28, 1996 Sec. 102(e) Date May 28, 1996 PCT Filed Dec. 6, 1994 PCT Pub. No. WO95/16184 PCT Pub. Date Jun. 15, 1995The first object is to correct deviation of a guided moving body by dead reckoning before and after a lap in order to precisely guide it. A second object is to facilitate determination of initial position and initial bearing of a guided moving body by dead reckoning. When the moving body 1 travels on a lane L3, the positions of two reference points R11 and R12 located immediately forward of the start point on the lane L3 are calculated as positions on coordinate axes x-y. When the moving body 1 has completed a lap around lane L3, returned to the starting point Ps, and continues to travel, the positions of the two reference points R11 and R12 are recalculated as R'11 and R'12 on the coordinate axes x-y. Deviations of the position and traveling direction of the moving body 1 when it has completed a lap around the lane L3 are corrected on the basis of the positions of the two reference points so calculated and the estimated position and estimated direction Pe (xe, ye, theta e) when the moving body has completed a lap around lane L3 and returned to the starting point Ps. |
