天井蛍光灯を利用した移動体の転回制御

抄録

An autonomous navigation method based on TV vision system on board a vehicle is under investigation. Our method is to use fluorescent lamp arrays on the ceiling as a lighthouse to control the vehicle. The object of this paper is to propose a method which controls the vehicle to turn at 90 degrees and to show the vehicle motion on the specified course in a virtual factory. This paper consists of three parts :
(1) First, the basic principle of turning the vehicle is explained. Next, experiments are carried out to examine this turning method using the practical vehicle. Furthermore, a method to specify the turning direction is suggested.
(2) In the next section, the vehicle motion in the perpendicular direction to fluorescent lamps on the ceiling is outlined.
(3) In the last section, the vehicle motion on the specified course in the factory is shown by using computer simulation.