| 摘要 |
PURPOSE:To correct deviation from a target track speedily and stably all the time by correcting the position of a robot by the specific quantity determined by the quantity of the deviation and an angle difference from a track direction when the robot deviates from the track. CONSTITUTION:When the robot body 30 deviates from the track to the right in the moving direction by distance (d) and its angle difference from the track in the moving direction is theta, a CPU judges that the robot deviates from the track to the right and decides on whether d+tantheta is positive or negative. When positive, the right-side driving wheel 41 is rotated at a reference rotating speed V0 and the rotating speed V of the left-side driving wheel 42 is controlled to V0-(d+tantheta) to curve the robot to the left. When negative, on the other hand, the rotating speed of the driving wheel 42 is held at V0 and the rotating speed V of the driving wheel 41 is controlled so that V=V0+(d+tantheta), curving the main body 30 to the right. When the robot deviates to the left, the control is performed reversely. |
