JPH05333928

PURPOSE:To prevent an out-course state and to improve the traveling safety of an unmanned carrier when the unmanned carrier travels linearly and backward at a high speed. CONSTITUTION:The unmanned carrier 1 is provided with two rear wheels and a front wheel 2 serving as a steering wheel and travels backward while detecting a guide line 10 by a quide sensor 5b. Meanwhile, a virtual guide sensor 5b is supposed and it is presumed that the line 10 is detected at a sensing point P7. Then, a set steering angle theta is calculated according to a segment connecting the point P7 to the center point P1 between both wheels 3 and a detecting angle alphaformed by the point P7 and the center line C2 of the AGV body.