GUIDED TRAVELING METHOD FOR OMNIDIRECTIONAL TRAVELING AUTOMATED GUIDED VEHICLE

摘要

PROBLEM TO BE SOLVED: To provide a guided traveling method for an omnidirectional traveling automated guided vehicle by which the ability to hold a straight line and convergence of the omnidirectional traveling automated guided vehicle are improved when the vehicle moves in a straight line.;SOLUTION: A turning radius R is calculated based on the guidance deviation of pre-and-post guidance sensors for a guidance line, and steering angles ϕ₁ and ϕ₂ are calculated from the turning radius R, so that the guided traveling of an omnidirectional traveling automated guided vehicle can be carried out. When calculating the turning radius from guidance deviations ε₁ and ε₂ of the traveling direction, the turning radius is calculated by inserting a correction value ΔR into an arithmetic formula from the state of the input values of pre-and-post guidance sensors.;COPYRIGHT: (C)2004,JPO