While detecting the position of the run guide who is laid according to the run

摘要

PROBLEM TO BE SOLVED: To provide a travel control apparatus for an unmanned carrier, in which attitude correction after passing a bent portion can be completed on early stage, and the unmanned carrier.;SOLUTION: A travel control apparatus 2A is provided for an unmanned carrier 1A which travels while detecting positions of travel guides laid along a traveling route, and includes a front guide sensor 3a and a rear guide sensor 3b which output sensor output signals corresponding to relative positions with the travel guides, respectively, position specification means 4a, 4b and 10 for specifying a present position, a storage section 11 storing beforehand a target sensor output value for the front guide sensor and a target sensor output value for the rear guide sensor corresponding to the positions, and a steering control section 12 which refers to the storage section 11 to acquire a target sensor output value corresponding to the present position, and changes a steering direction in such a manner as to minimize a difference between the values of the sensor output signals outputted from the guide sensors 3a and 3b and the target sensor output values.;COPYRIGHT: (C)2012,JPO&INPIT