AUTONOMOUS MOBILE DEVICE, PROGRAM, METHOD FOR STEERING AUTONOMOUS MOBILE DEVICE, AND METHOD FOR ADJUSTING AUTONOMOUS MOBILE DEVICE
To provide an autonomous mobile device that allows stable steering control even when the loading weight or the way of loading freight is changed.SOLUTION: An autonomous mobile device conveys an object of conveyance along a target track, and comprises: steering means 111 that controls steering on the...
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| Format: | Patent |
| Sprache: | eng ; jpn |
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| Zusammenfassung: | To provide an autonomous mobile device that allows stable steering control even when the loading weight or the way of loading freight is changed.SOLUTION: An autonomous mobile device conveys an object of conveyance along a target track, and comprises: steering means 111 that controls steering on the basis of a steering command Wtgt based on a follow-up error dP from the target track; and adjustment means that generates disturbance Noise that disturbs the follow-up to the target track, and adjusts a parameter Param of the steering means on the basis of a behavior after the generation of the disturbance.SELECTED DRAWING: Figure 6
【課題】貨物の積載重量又は積み方が変化しても、安定した操舵制御を可能とする自律移動装置を提供する。【解決手段】搬送対象物を目標軌道に沿って搬送する自律移動装置において、目標軌道との追従誤差ｄＰに基づく操舵指令Ｗｔｇｔに基づいて操舵制御する操舵手段１１１と、目標軌道への追従を乱す外乱Ｎｏｉｓｅを発生させ、外乱発生後の挙動に基づいて操舵手段のパラメータＰａｒａｍを調整する調整手段と、を備える。【選択図】図６ |
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