| 摘要 |
PURPOSE:To decrease the number of times of steering changeover operation by guiding an unmanned car so that the 1st and the 2nd swivel circles and the 2nd swivel circle and a run line 2 contact each other. CONSTITUTION:The unmanned car which deviates from the run line and is at a parallel attitude is swiveled by a constant steering angle and when it is swiveled by a specific arc length angle xsi in the 1st swivel circle formed by said swivel, the steering angle is switched right or left to said steering angle so that the car swivels on the 2nd swivel circle C2 which has the same swivel radius with the 1st swivel circle and contacts the run line, and the car is put on the run line 2 when swiveling by the same arc length angle as the arc length angle prescribed by the 1st swivel circle. In this case, the arc length angle xsi, swivel radius R, and steering angle theta are determined from W/2=(1-cosxsi) and theta=L/R, where L is the length of a wheel base.
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