TRAVEL CONTROL METHOD FOR UNMANNED VEHICLE TRAVEL CONTROLLER FOR UNMANNED TRAVEL VEHICLE, AND UNMANNED TRAVEL VEHICLE

摘要

PROBLEM TO BE SOLVED: To secure stable travel of an unmanned vehicle in a guide path containing a branch and a sharp curve. ;SOLUTION: In this control method, guide sensors 33a and 33b obtain the position of the unmanned vehicle on a guide band M1 and calculate displacement quantity (x) being shift quantity from the guide path of the unmanned vehicle. Proportional quantity P, integration quantity I and derivative quantity D are obtained based on displacement quantity (x). Proportional quantity P is shown by the product of displacement quantity (x) and the absolute value |x|. The revaluation speeds CL=V0(1+PID) and VR=V0(1-PID) of right and left driving wheels 12a and 12b are obtained by PID quantity being the sum of them. Since revolution speed is monentarily corrected based on PID quantity which is continuously operated against changing main speed V0, the shift of the unmanned vehicle from the guide path can appropriately be corrected. Only proportional quantity P can be used instead of PID quantity.;COPYRIGHT: (C)1999,JPO