Patent ID: 8135496

Claim:
A travel control system for allowing a plurality of traveling vehicles to travel in accordance with instructions from a ground controller for transportation of articles, the travel control system comprising: a communication system arranged to enable communication between the ground controller and the traveling vehicles; a position instruction generator provided in the ground controller; a velocity instruction generator, a torque instruction generator, and a travel motor provided in each of the traveling vehicles; the traveling vehicles each being configured to report at least a position of the traveling vehicle in each control cycle through the communication system; the ground controller being configured to generate a position instruction for one control cycle for each traveling vehicle based on the report, and provide the position instruction for each traveling vehicle through the communication system; the velocity instruction generator being configured to generate a plurality of velocity instructions in one control cycle based on a difference between a position of the position instruction and the position of the traveling vehicle; and the torque instruction generator being configured to generate a plurality of torque instructions for each of the velocity instructions based on a difference between a velocity of the velocity instruction and a velocity of the traveling vehicle to drive the travel motor in accordance with the torque instructions.