System for guiding a driverless vehicle

摘要

A driverless vehicle is guided along a guideline which is detected on a floor by an optical sensor having a plurality of light receiving elements. A value representing the amount of light received by each of the light receiving elements is composed with a value representing the amount of light received by one or more neighbouring light receiving elements and smoothed to an appropriately large value so that the detection of the guideline may be based on the smoothed value.