Abstract: An outer environment of the vehicle is inputted as an image. Image processing is performed to the input image, and many edge segments are extracted. The edge segments which are colinear are clustered in order to perform a matching operation. Matching is performed in a respective set of plural longer edge segments representing plural clusters in correspondence with a set of plural guide signs as standards of guide of the vehicle mapped on the image input surface, and a set of longer edge segments being most matched each other is extracted. From position and headings of the extracted longer edge segments on the image input surface, the position and heading in the outer environment are calculated. The position and heading of the vehicle are detected from these values. The position and heading of the vehicle obtained in the above-mentioned image processing and the position and heading of the vehicle measured by other techniques and are evaluated synthetically.

Abstract: In a running command system for an unmanned vehicle, path information is stored, a current running state is compared with running command instruction data, an end of an operation corresponding to the running command instruction data is detected, and new running command instruction data corresponding to the next operation is generated upon detection of the end of the operation. The optimal running command instruction data can be set to cause the unmanned vehicle to travel along a running path whose information is stored in a running course memory, thereby accurately guiding the unmanned vehicle to a destination.

Abstract: An obstacle data processing system for an unmanned self-controlled vehicle, capable of enabling the vehicle to automatically avert any obstacle which lies in the course of running of the vehicle. The system has obstacle position memory device capable of accumulating position data concerning specific obstacles and, hence, forming data concerning the distribution of the obstacles. The vehicle therefore can conduct appropriate averting operation in accordance with the distribution of a plurality of obstacles.

Abstract: A fluctuating drive system comprises: random generating means for generating a randomly varying physical quantity; control means for controlling the randomly varying physical quantity; amplifying means for amplifying the controlled physical quantity; and driving means for driving an energy generating means in accordance with the amplified physical quantity, thereby to generate the randomly varying energy from the energy generating means. With this system, the environment or stimulus is positively fluctuated at random with l/f characteristics or the like.