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

    【課題】旋回時の制御結果の精度を向上させることができる自律移動体を提供することである。【解決手段】自律移動体は、操舵可能な前輪を有する機台と、前輪を駆動させる操舵モータ22及び走行モータ23と、を有する。自律移動体は、機台の旋回角速度を検出するジャイロセンサ33と、機台が目標経路を走行する場合の理想旋回角速度と、ジャイロセンサ33により検出された旋回角速度とに基づいて、補正値を算出する算出部101と、を有する。自律移動体は、補正値に基づいて、前輪の誘導角速度を決定する決定部102と、決定部102により決定された誘導角速度に基づいて、操舵モータ22及び走行モータ23を制御する駆動制御部103と、を備える。【選択図】図2


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    Title :

    AUTONOMOUS MOVABLE BODY


    Additional title:

    自律移動体


    Contributors:

    Publication date :

    2022-10-17


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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