초록 ▼

A automatic guided vehicle which drives drive wheels differentially to change its traveling direction applies braking by imposing reverse torque to wheel drive motors when cornering or when rapid braking is demanded. This braking corrects the traveling direction of the automatic guided vehicle when

A automatic guided vehicle which drives drive wheels differentially to change its traveling direction applies braking by imposing reverse torque to wheel drive motors when cornering or when rapid braking is demanded. This braking corrects the traveling direction of the automatic guided vehicle when the vehicle is apt to depart from its intended path, enabling a automatic guided vehicle even having a large inertia to make a smooth turn at a sharp corner.

대표청구항 ▼

[ What is claimed is:] [1.] A vehicle control method for controlling a direction of a self drive vehicle by differentially driving electric motors for driving right and left drive wheels, said vehicle control method comprising the steps of:detecting a lateral deviation of said self drive vehicle fro

[ What is claimed is:] [1.] A vehicle control method for controlling a direction of a self drive vehicle by differentially driving electric motors for driving right and left drive wheels, said vehicle control method comprising the steps of:detecting a lateral deviation of said self drive vehicle from a prearranged travel path which is established by guide means;calculating a speed difference between rotational speeds of said electric motors necessary to correct said lateral deviation; andapplying reverse torque to said electric motors according to said speed difference to differentially drive said right and left wheels.