| 摘要 |
PURPOSE:To attain the unmanned operation of a robot (truck) by calculating the present position of the truck by the signals given from a direction sensor and a traveled distance sensor anc comparing the result of said calculation with an indicated driving path for control of both the direction and speed of the truck. CONSTITUTION:When the X coordinates 3 of a point D is controlled in a working area S while a self-traveling 1 is steered in a pattern of a driving path RO between a fixed point O and an end point R, the following algorithm is applied. That is, the minimum distance l2 is obtained between the point O and the robot 1 while the robot 1 travels up to a point N from a point M. The robot 1 has a rectangular turn at the point N, and the distance between points N and Q is controlled to (l2+l3), where l2 and l3 mean the measured value and estimated value respectively. Then the robot 1 has a rectangular turn at the point Q. Hereafter the Y coordinates of a point E and the X coordinates of a point F are controlled in the same way. Here it is supposed that the traveling direction is controlled to the fixed value by a direction sensor 14 for each drive section of the robot 1. |
