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Autonomous vehicle is developed corresponding to conventional type covering machine which has slightly indented spindles and the curved frames. It is controlled to stop at proper position for doffing operations.(1) A pair of laser displacement sensors enable the autonomous vehicle to obtain the high positioning accuracy. It is efficient to improve the sensing faculty for vehicle control underthe bad environment where slipage easily occurs or there is often disturbance.(2) Moving vehicle experiment confirms the efficiency of the feedback control. It enables stop accuracy about ± 3mm for preparating operation of manufacturing covered yarns, such as drawing-in a core yarn.(3) Using the laser displacement sensor which has ± 40mm in measurement range, the vehicle is able to correspond for less then 10mm in side disturbance, 5mm in vertical disturbance, and 1% in slope of floor

Development of an Auto-Doffer for Covering Machines. Part 5: Control of Autonomous Vehicle for Doffing Operation.