Unmanned transport vehicle, method of controlling unmanned transport vehicle, and storage medium

Abstract

An unmanned transport vehicle according to an embodiment includes a vehicle body, a moving mechanism, and an operation control device. The vehicle body is combinable with a transport object. The moving mechanism causes the vehicle body to be moved. The operation control device controls an operation of the moving mechanism. The operation control device includes a pseudo-reference position setter, a path acquirer, an operation command generator, and a driving controller. The pseudo-reference position setter sets a pseudo-reference position serving as an operation reference position of a combination structure of the vehicle body and the transport object to be different from a vehicle body reference position that is an operation reference position of the vehicle body. The path acquirer acquires a movement path from a current position of the combination structure to a target position. The operation command generator determines an operation of the combination structure that moves along the movement path acquired by the path acquirer based on the pseudo-reference position and generates an operation command related to a vehicle body operation that implements the determined operation of the combination structure. The driving controller causes the moving mechanism to be driven based on the operation command.