Title:
全方向移動車の走行制御装置
Document Type and Number:
Japanese Patent JP7400700
Kind Code:
B2
Abstract:
To provide a traveling control device for an omnidirectional moving vehicle capable of improving the stopping accuracy of the omnidirectional moving vehicle with respect to a target stop position even if an inexpensive traveling motor is used.SOLUTION: A traveling control device 1 includes: traveling motors 8A to 8D for independently rotating and driving omnidirectional moving wheels 4A to 4D; an error calculating unit 11 for calculating an angular error in a turning direction of an omnidirectional moving vehicle 2 and a positional error in a right-left direction with respect to a target stop position P; and a traveling control unit 12 for executing traveling control processing of controlling the traveling motors 8A to 8D so that the angular error and the positional error are reduced based on the angular error in the turning direction of the omnidirectional moving vehicle 2 and the positional error in the left-right direction calculated by the error calculating unit 11 in a state where the omnidirectional moving vehicle 2 is moving forward to the target stop position P.SELECTED DRAWING: Figure 1
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Inventors:
Shotaro Hosokawa
Application Number:
JP2020192383A
Publication Date:
December 19, 2023
Filing Date:
November 19, 2020
Export Citation:
Assignee:
KABUSHIKI KAISHA TOYOTA JIDOSHOKKI
International Classes:
B60W60/00; G05D1/02
Domestic Patent References:
| JP201875707A |
Foreign References:
| WO2019069626A1 | ||||
| WO2020171090A1 |
Attorney, Agent or Firm:
Yoshiki Hasegawa
Yoshiki Kuroki
Takashi Mikami
Hiromitsu Nakayama
Yoshiki Kuroki
Takashi Mikami
Hiromitsu Nakayama