Title:
【発明の名称】自律走行車の誘導方法
Document Type and Number:
Japanese Patent JP2572968
Kind Code:
B2
Abstract:
This invention relates to a novel guiding method for autonomous travelling vehicle in which the number of the rotation of wheels mounted on both the right and left sides are individually detected when guiding the vehicle along the predetermined route by independently controlling the rotation of wheels mounted on both the right and left sides, and then based on the number of the rotations of these wheels and factors, such as the tread, determined by specification of the vehicle, the position and the azimuth of the vehicle are estimated. Then, based on the estimated position and the azimuth of the vehicle by referring to the predetermined route, the target position is set, and then, the vehicle is made to travel toward the set target position. Setting of the target positions and making the vehicle travel toward the set target position are repeated so that the vehicle is guided toward the route being set. When marks are detected while the vehicle travels, the position and azimuth of the vehicle are corrected, and at every time of correcting, the deviations of the position and azimuth are detected. Depending on whether the detected deviation is related to the position or the azimuth, the factor related to the detected deviation is varied and guiding of the vehicle is further executed.
Inventors:
OKAZAKI MAMORU
Application Number:
JP16606186A
Publication Date:
January 16, 1997
Filing Date:
July 14, 1986
Export Citation:
Assignee:
TSUBAKIMOTO CHAIN CO
International Classes:
G05D1/02; B60W60/00; (IPC1-7): G05D1/02
Domestic Patent References:
| JP59117611A | ||||
| JP5988714U |
Attorney, Agent or Firm:
Tono Kono