GYRO-GUIDE TYPE UNMANNED CARRIER

PURPOSE:To minimize the arithmetic error for the position of an unmanned carrier despite a large steering angle and to improve the stopping accuracy, by calculating the real shift amount between the center position of the carrier and the rotational center of a wheel of the carrier based on the information on the rotational frequency of an optional one or plural ones of wheels of the carrier as well as the wheel steering angles. CONSTITUTION:A rotary sensor 3 counts the distance pulses of the wheels diagonal with each other to obtain a distance traveled for a unit time. Then a steering angle rotary sensor 41 obtains an angle between a wheel and the carrier body. A traveled distance correcting part 42 calculates the average traveled distance per unit time of each of both sensors 3 and 41 to define a distance traveled per unit time. This obtained distance is set at DELTAl approximately equal to the shifted distance at the center part of the carrier. As a result, no error is produced with calculation of the carrier position despite a large steering angle and therefore the stopping accuracy is improved for the carrier.