Unmanned vehicle control system and method

摘要

An unmanned vehicle is so controlled as to travel along a guide line in response to command signals transmitted from a fixed host computer. The steering misalignment (offset) of the vehicle is corrected by a steering DC motor driven by an AC current, the duty ratio of which is adjusted by a steering motor chopper circuit. Since dead zones within which the misalignment is no longer corrected and duty ratio calculating expression on which chopper duty ratio is determined according to a detected offset are both classified by vehicle speed, it is possible to stably correct vehicle steering misalignment at high response speed even when the vehicle is travelling at high speed along the guide line. Further, when the dead zone and the calculating expression are both classified by discriminating an initial offset from the succeeding offset, it is possible to not only to prevent the vehicle from travelling zigzag along the guide line, but also to reduce the number of rush currents generated in the chopper circuit.