MOVEMENT DEVICE AND CONTROL METHOD

PROBLEM TO BE SOLVED: To facilitate movement of a movement device to a target position.SOLUTION: A movement device 1 for moving by driving plural drive wheels 1F, 1L, 1R is configured to: detect first detection rotation speed at which the first drive wheel out of the plural drive wheels rotates, and second detection rotation speed at which the second drive wheel different from the first drive wheel rotates, then calculate detection swing speed on the basis of the first and second detection rotation speeds, then, on the basis of target swing speed at which the movement device reaches a target position, and the detection swing speed, when any one of torques for rotating the first and second drive wheels, is the maximum torque, and detection rotation speed related to the drive wheel which rotates by the maximum torque is slower than the target rotation speed calculated on the basis of the target swing speed, corrects the target rotation speed of the drive wheel different from that which rotates by the maximum torque, and drive the first and second drive wheels respectively.SELECTED DRAWING: Figure 1 【課題】移動装置が目標とする位置に向かって移動し易くする。【解決手段】複数の駆動輪１Ｆ、１Ｌ、１Ｒを駆動させて移動する移動装置１が、複数の駆動輪のうちの第１駆動輪が回転する第１検出回転速度と、複数の駆動輪のうちの第１駆動輪とは異なる第２駆動輪が回転する第２検出回転速度とをそれぞれ検出して、第１及び第２検出回転速度に基づいて検出旋回速度を算出し、移動装置が目標とする位置に向かう目標旋回速度と検出旋回速度とに基づいて、第１及び第２駆動輪のそれぞれを回転させるトルクのうち、いずれかのトルクが最大トルクであり、かつ、最大トルクによって回転する駆動輪に係る検出回転速度が目標旋回速度に基づいて計算される目標回転速度より遅い場合、それぞれの目標回転速度のうち、最大トルクで回転させるのと異なる方の目標回転速度を補正して第１駆動輪及び第２駆動輪をそれぞれ駆動させる。【選択図】図１