PROBLEM TO BE SOLVED: To provide a traveling control device, a traveling control method, and a traveling control program capable of reducing an occurrence of ruts due to traveling of a traveling device and reducing an influence of the ruts to ensure stable traveling.SOLUTION: A self-propelled vehicle (100) for controlling a traveling direction by means of a rotational speed difference of wheels (5) provided on left and right of a vehicle body (3), is comprised of: a first motor (61) for driving a right wheel (5); a second motor (62) for driving a left wheel (5); and a drive control unit (7) for controlling the first motor (61) and the second motor (62); wherein in addition to a normal drive control based on a rotational speed of the right wheel (5) and a rotational speed of the left wheel (5), the drive control unit (7) has such a driving function that the right wheel (5) and the left wheel (5) are alternately accelerated and decelerated at preset timing to generate a speed difference between the rotational speeds of the right wheel (5) and the left wheel (5).SELECTED DRAWING: Figure 2
【課題】走行装置の走行による轍の発生を低減するとともに、轍による影響を低減して安定走行を確保できる走行制御装置、走行装置、走行制御方法及び走行制御プログラムを提供する。【解決手段】車体(3)の左右に設けられた車輪(5)の回転速度差で走行方向を制御する自走式車両(100)であって、右側の車輪(5)を駆動する第1モータ(61)と、左側の車輪(5)を駆動する第2モータ(62)と、第1モータ(61)と第2モータ(62)とを制御する駆動制御部(7)とを備え、駆動制御部(7)は、右側の車輪(5)の回転速度と左側の車輪(5)の回転速度に基づく通常の駆動制御に加えて、予め設定されたタイミングで右側の車輪(5)と左側の車輪(5)とを交互に加減速させて、右側の車輪(5)と左側の車輪(5)の回転速度に速度差を生じさせて駆動する機能を備えることを特徴とするものである。【選択図】図2
TRAVELING CONTROL DEVICE, TRAVELING DEVICE, TRAVELING CONTROL METHOD AND TRAVELING CONTROL PROGRAM
走行制御装置、走行装置、走行制御方法及び走行制御プログラム
2018-08-02
Patent
Electronic Resource
Japanese
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