Method and apparatus for controlling automated guided vehicle

  • US 5,002,145 A
  • Filed: 01/26/1989
  • Issued: 03/26/1991
  • Est. Priority Date: 01/29/1988
  • Status: Expired due to Fees
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First Claim
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1. A method of controlling travel of an automated guided vehicle, comprising the steps of:

  • guiding said automated guided vehicle along a guide marker arranged in a lattice form when said automated guided vehicle goes straight;

    when said automated guided vehicle turns, causing it to perform an autonomous travel along a curved path from one lattice point to another lattice point;

    providing, in said autonomous travel, necessary deviation angles to left and right wheels of said automated guided vehicle at the one lattice point;

    monitoring numbers of rotations of said left and right wheels during the autonomous travel in order to measure a travel distance of said automated guided vehicle;

    comparing the travel distance with a value corresponding to a length of the curved path; and

    nullifying the deviation angles of said left and right wheels when the travel distance coincides with the value in order to cause said automated guided vehicle to go straight by a guiding step.

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