| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a traveling control method for mobile vehicle allowing normal traveling even in the cut of a guide tape. SOLUTION: The steering angles of the front wheel 1 and rear wheel 2 of a mobile vehicle V are detected by an angle detector 21, and the state of traveling route (in which position of a straight route and the advancing part, curve point part, and leaving part of a curved route the mobile vehicle V is prevent) is judged by the steering angles. When the guide tape L for guiding the mobile vehicle V cannot be detected by a guide sensor 23, the steering angles of the front wheel 1 and rear wheel 2 of the mobile vehicle V are controlled according to the steering angles and state of traveling route at that point of time. The angles of the steering wheels of the mobile vehicle are controlled according to the steering angle and state of traveling route at the point of time when the guide tape L cannot be detected, or the wheels are steered by partial autonomous control, whereby the possibility of running out of the guide tape L (derailing) can be avoided, and a normal traveling can be performed.</p> |
