| 摘要 |
PURPOSE:To simplify an operation which performs the steering control by converting the arithmetic results of the position and the direction of an unmanned carrier body into the values set on a new orthogonal coordinate axis in terms of coordinates when the carrier is guided to a rectilinear course from another. CONSTITUTION:The rectilinear course A-B and C-D are defined as the virtual courses 3A and 3B respectively. When an unmanned carrier 1 reaches a position where the transfer of the carrier 1 is started to the course 3B from the course 3A, the position and the direction of a carrier body 1A set on an orthogonal coordinate axis 8A are converted into the values set on an orthogonal coordinate axis 8B in terms of coordinates. Then the position and the direction of the body 1A are operated on the axis 8B with those converted coordinate values defined as the initial values. Then the deviation between the body 1A and the course 3B, i.e., the lateral displacement and the attitude angle of the body 1A are operated to perform such steering control that sets the deviation at zero. Thus, it is not required to provide a guide zone along the traveling course of the carrier 1 and furthermore the deviation between the body of the carrier and the virtual course can be operated in a simple way be cause the carrier is driven on the rectilinear virtual course. |
