Routeless guiding method for moving body

• US 5,471,385 A
• Filed: 04/28/1993
• Issued: 11/28/1995
• Est. Priority Date: 05/21/1992
• Status: Expired due to Fees

• Current Assignee: Tsubakimoto Chain Company
• Original Assignee: Tsubakimoto Chain Company
• Inventors: Shibatani, Kazuhiro, Nishii, Hisao, Suzuki, Kenshi
• Primary Examiner(s): Teska, Kevin J.
• Assistant Examiner(s): FREJD, RUSSELL WARREN
• Application Number:
  US08/055,215
• Time in Patent Office: 944 Days
• Field of Search: 364/424.02, 364/424.01, 318/587, 318/567, 318/568.12, 180/169, 180/168, 180/167
• US Class Current: 701/23
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287

Abstract

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.

Claims

1. A routeless guiding method for guiding a moving body having independently controlled right and left wheels comprising the steps of:

independently controlling the driving speeds of said right and left driving wheels to direct movement of the body from a present position of the body to a target position without designating a route according to an operational expression including a parameter based on a positional relation between the body present position and the target position, and making a traveling direction of said moving body coincide with a predetermined direction at said target position,

changing a gain of said parameter of said operational expression responsive to a distance between the present position of said moving body and the said target position.

2. A routeless guiding method as in claim 1 wherein said right and left wheels are controlled according to the operational expression;

space="preserve" listing-type="equation">u.sub.r,1=k.sub.d e.sub.d ±

k.sub.c (e.sub.c -Aθ

.sub.x)

Where, e_d ;

positional deviation ##EQU7## θ

_x ;

azimuth deviation θ

_x =tan^-1 (e_x /e_y)

u_r ;

right motor speed command value

u_l ;

left motor speed command value

k_c ;

azimuth gain

k_d ;

deviation direction gain

e_c ;

turning direction deviation

A;

azimuth deviation gain

and wherein said gain A of said parameter θ

_x is said gain included in said operational expression changed responsive to a distance D between the present position of said moving body and the said target position such that

When D>

>

1 ;

A=1

When D=1 ;

A=2

When D≅

1 ;

A=0

and where D;

e_d /d₀.

3. A routeless guiding method for guiding a moving body, whose driving speeds of the right and left driving wheels are independently controlled according to an operational expression including a parameter based on a positional relation between the body present position and the target position without designating a route, and making a traveling direction of said moving body coincide with a predetermined direction at said target position,

changing a gain of said parameter of said operational expression responsive to a distance between the present position of said moving body and the said target position, and

said gain of said parameter being of two kinds determined respectively so that the change of traveling route of said moving body at a switching point from one gain to another is smooth.

4. A routeless guiding method for guiding a moving body having independently controllable right and left wheels, comprising the steps of independently controlling the driving speeds of said right and left driving wheels according to an operational expression including a parameter based on a positional relation between the body present position and the target position without designating a route, and making a traveling direction of said moving body coincide with a predetermined direction at said target position, the operational expressing being