To provide an autonomous movable body capable of improving the accuracy of a control result during turning.SOLUTION: An autonomous movable body comprises: a machine base having front wheels capable of being steered; a steering motor 22 and a travel motor 23 for driving the front wheels. The autonomous movable body comprises: a gyro sensor 33 for detecting a turning angle speed of the machine base; and a calculating part 101 for calculating a corrected value, on the basis of an ideal turning angle speed when the machine base travels on a target path and a turning angle speed detected by the gyro sensor 33. The autonomous movable body comprises: a determining part 102 for determining a guide angle speed of the front wheels, on the basis of the corrected value; and a drive control part 103 for controlling the steering motor 22 and the travel motor 23, on the basis of the guide angle speed determined by the determining part 102.SELECTED DRAWING: Figure 2
自律移動体
2024-07-02
Patent
Elektronische Ressource
Japanisch