Automatic traveling vehicle

Abstract

An automatic traveling vehicle includes a driving source, a left driving wheel and a right driving wheel to which a driving force from the driving source is transmitted, and that rotate independently from each other, a left manipulator and a right manipulator that control an actual rotational speed of the left driving wheel and an actual rotational speed of the right driving wheel, respectively, and a left actuator and a right actuator that operate the left manipulator and the right manipulator, respectively. The automatic traveling vehicle further includes a control circuit that includes an operated amount controller that controls the operated amount so that the actual rotational speed becomes a predetermined target rotational speed on the basis of a correlation map between a rotational speed of the driving wheel and the operated amount of the actuator. The control circuit includes a corrector that calculates a difference between the actual rotational speed and the target rotational speed, and that corrects the operated amount so as to bring the actual rotational speed closer to the target rotational speed.