| 摘要 |
Provided is a pushcart that can automatically change a yaw rotation range. A first main wheel (11A) and a second main wheel (11B) are respectively driven and controlled so that a change of angle in a yaw direction falls within a range of given target values (a first target value and a second target value). In the case where a yaw angular velocity ω is determined to be in a range from −α to α, a control unit (21) controls the first main wheel (11A) and the second main wheel (11B) so that the yaw angular velocity ω becomes 0, and corrects the yaw angular velocity to 0 (or a value near 0). Accordingly, the yaw angular velocity ω falls within the range from the first target value to the second target value (−α to α). |
