Importance

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Abstract

An apparatus for controlling the running of a trackless moving body. The apparatus includes a control device which comprises an adder receiving outputs from two position deviation sensors mounted on the moving body, a subtractor circuit receiving outputs from the two position deviation sensors, a first comparator receiving the output from the adder for comparing the same with a first reference value, a second comparator receiving the output from the subtractor for comparing the same with a second reference value, and a logic circuit receiving the comparison outputs from the first and second comparators for evaluating the direction of steering. Drive motors of the moving body are controlled by the control device to rotate substantially at the same speed at least when the logic circuit determines that the moving body is returning toward the correct direction.

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First Claim