| 摘要 |
PURPOSE:To execute the induced traveling even to the drastic change of a traveling condition stably and with a good accuracy by outputting the steering quantity, as a steering signal, in proportion to the car body condition quantity obtained the sum of the detecting result from a precision optical detecting device and the differential result at the time of the straight forward traveling. CONSTITUTION:A target steering command part 15 detects an induced sign 3 for the straight forward traveling, an induced sign 4a for the turning-round and branching traveling by a precision optical detecting device 5, communicates the detecting result to a data processing part 20, the traveling condition of an unmanned carrier truck 1 is grasped by the command signal from the data processing part 20, and thereafter, a target steering command signal yr in the straight forward traveling and the steering and branching traveling is set. A comparing device 16 is the circuit to subtract a setting signal yr of the target steering command part 15 and an output signal (yt+alphapsi) from the data processing part 20. A steering pattern generator 17 is the circuit to be changed over by a changing-over part 21, convert an output signal DELTAy from the comparing device 16 to the voltage and input it to a servo amplifier 18.
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