| 摘要 |
<p>PURPOSE:To select an optional route among plural travel routes and make the vehicle travel by itself by controlling the vehicle by calculating a deviation quantity on the basis of a signal from a left or right guidance line sensor corresponding to the travel direction of the vehicle body once a fixed point nearby a branch or confluence point of the guidance line is detected. CONSTITUTION:When the unmanned travel vehicle 1 approaches the branch or confluence point and the fixed point installed near it is detected by a fixed point sensor 30, a main controller 15 selects a branch/confluence mode as the control mode of a steering system and the quantity of deviation of the vehicle body 2 from the guidance line 12 is calculated by using the signal from the left or right guidance sensor 13L or 13R corresponding to the vehicle body travel direction at the branch or confluence point. Then steering systems 16 and 18 are controlled on the basis of the deviation quantity and the vehicle 1 is made to travel in a specific direction along the guidance line 12 at the branch or confluence point, so the vehicle 1 selects an optional route among plural travel routes and travels by itself along the route.</p> |
