GUIDANCE SYSTEM AND GUIDANCE METHOD

PROBLEM TO BE SOLVED: To reduce a facility load required to guide a mobile object, and to provide a guidance system and a guidance method obtaining stable guidance in a closed space. SOLUTION: Cross-sectional profile data of a gallery T are obtained by a laser scanner 13, and an observation ellipse Ec is estimated from the cross-sectional profile data, in order to relatively guide a conveyer vehicle 3A along an inner wall Ta of the gallery T. A reference ellipse E0of the gallery T is previously stored. The attitude angle and relative position of the conveyer vehicle 3A are obtained from a geometric relationship between the observation ellipse Ec and the reference ellipse E0. A travelling control along a traveling route R is performed on the basis of the attitude angle and relative position. As a result, stable guidance is obtained along the traveling route R. COPYRIGHT: (C)2010,JPO&INPIT