Tsubakimoto Chain Company

Kazuhiro Shibatani

Kenshi Suzuki

Hisao Nishii

A routeless guiding method for guiding a moving body, in which the driving speeds of the body's right and left driving wheels are independently controlled according to an operational expression including parameters based on a positional relation between the body's present position and a target position to guide the body to a target position without designating a route. To guide the body, the gain of an azimuth deviation parameter related to a traveling direction of the moving body to the target position is changed in response to the distance between the moving body and the target position, and further the gain is made to be of two kinds so that the traveling route of the moving body is not unstable in shifting from one gain to another.

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Izumiotsu, Japan

Kazuhiro Shibatani