STEERING CONTROL METHOD FOR IMAGE TYPE UNMANNED CARRIER

摘要

PURPOSE:To perform the steering control of an image type unmanned carrier by defining the driving course of the carrier from the function obtained from the position of the carrier through the position set by an image pickup device of the carrier and differentiating said function to obtain a posture angle and controlling the steering angle based on the posture angle. CONSTITUTION:A CPU 11 obtains a function F(zeta) of a cubic approximate curve Lzeta which passes through or approaches the base points Q1-Q6 from an original point PH. Then the CPU 11 decides the driving course of an unmanned carrier from the present position of the carrier through an area 4a based on the function F(zeta). Furthermore the CPU 11 controls a steering mechanism 21 from the function F(zeta). In this case, the posture angle phi(zeta) is obtained at each driving position to decide a steering angle thetaS at which the carrier has the angle phi(zeta) at each time when the carrier is driven from its present position along the curve Lzeta of the function F(zeta). Then the mechanism 21 is actuated with control.