POSITION ERROR CONTROL SYSTEM FOR TRAVELING OBJECT

Japanese Patent JPH02183812

A

PURPOSE:To reduce the processing load at the side of a traveling object and to improve the control accuracy of the traveling object by controlling the position and the direction of the traveling object based on the target azimuth only in the case the position data on the traveling object is controlled at the fixed station side of a position detecting device and performs the remote control of the traveling object via transmission of the radio data. CONSTITUTION:A target direction table calculation part 5 divides an entire traveling area into meshes after this area is set and calculates all directions of a traveling object 9 for each mesh for production of a table of target directions. A coordinate conversion part 6 converts the position information on the object 9 received from a fixed station 8 of a position detector into an XY coordinate system where a traveling line is defined as a Y axis. A position error angle conversion part 4 always calculates the difference between the center of the object 9 and the center axis of the traveling line based on the coordinate data and converts the position error into an angle. At the side of the object 9, the angle set to the traveling line of the object 9 detected by the object 9 itself is compared with the received and demodulated target azimuth. Then the position and the direction of the object 9 are controlled based on the target azimuth. Thus the object 9 can travel on a prescribed traveling line with high accuracy even on a road surface hard to set a guide.

KATAGAI TAKESHI
TAKAYAMA MASAKI

JP450689A

July 18, 1990

January 11, 1989

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JAPAN RADIO CO LTD

G05D1/02; G01C21/04; (IPC1-7): G01C21/04; G05D1/02

JPS6345610A

1988-02-26

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