JPH05346823
PURPOSE:To geometrically search a set steering angle according to a deviation value. CONSTITUTION:An unmanned carrier 1 is equipped with two back wheels 3, and one front wheel 2 being a steering wheel. The unmanned carrier 1 travels forwards while detecting a guide line 10 by guide sensors 6a and 6b...
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| Format: | Patent |
| Sprache: | eng |
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| Zusammenfassung: | PURPOSE:To geometrically search a set steering angle according to a deviation value. CONSTITUTION:An unmanned carrier 1 is equipped with two back wheels 3, and one front wheel 2 being a steering wheel. The unmanned carrier 1 travels forwards while detecting a guide line 10 by guide sensors 6a and 6b, and travels backwards while detecting the guide line 10 by guide sensor 6a and 6b. Then, a deviation value SY is geometrically converted into a detection angel alpha, and a set steering angle theta is searched by utilizing an antenna length SX or a wheel base length L. |
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