Guiding method of traveling object

Abstract

Abstract PURPOSE:To guide accurately a traveling object with a smooth locus, by calculating the target direction from a standard target position and a measured position which are previously stored and performing a steering control from the difference between the target and measured directions. CONSTITUTION:A traveling object V like an automatic mower, etc. is guided from a starting point A to a target point B along a prescribed rectilinear course Li. The object V contains a microcomputer as well as three photodetectors which receive the light given from a laser light source set at a prescribed position. Thus the present position Q and the traveling direction phi of the object V are successively measured. The microcomputer calculates a target direction QT from the measured position Q and a standard target position P which is previously stored. The steering control is carried out successively for wheels from the difference DELTAphi between the direction QT and the measured present direction Q so that the object V travels toward the target direction phiT. Then the object V is guided toward the position P.

Inventors

• 👤 Shigeaki Okuyama
• 👤 奥山　恵昭

Bibliographic Details