A transporter comprising an autonomous mobile robot configured to transport a transport object (D), the transport object (D) including a plurality of wheels (C) provided under the transport object (D), the autonomous mobile robot comprising: a driver configured to cause the autonomous mobile robot to move; a first detector attached to a position in height which is assumed in advance such that a surrounding existence object of an ambient environment is not present, the first detector being configured to obtain first data by scanning an object at a first region around the autonomous mobile robot (1, 1A, and 1B); a second detector configured to obtain second data by scanning the surrounding existence object at a second region around the autonomous mobile robot ; a localization estimation part configured to calculate an estimated position of the autonomous mobile robot in an object region in which the transporter travels, in accordance with the first data; a route-generating part configured to calculate a position of the surrounding existence object present around the autonomous mobile robot in accordance with the second data, the route-generating part being configured to calculate a route to a target position in accordance with the estimated position of the autonomous mobile robot in the object region and the position of the surrounding existence object; a control part configured to control the driver in accordance with the route, the control part being configured to cause the autonomous mobile robot to travel to the target position; and a third detector configured to obtain third data associated with positions of the plurality of the wheels (C), wherein the control part controls the driver in accordance with the third data to cause the autonomous mobile robot to be disposed between a pair of the wheels (C) of the plurality of the wheels (C). a driver configured to cause the autonomous mobile robot to move; a first detector attached to a position in height which is assumed in advance such that a surrounding existence object of an ambient environment is not present, the first detector being configured to obtain first data by scanning an object at a first region around the autonomous mobile robot (1, 1A, and 1B); a second detector configured to obtain second data by scanning the surrounding existence object at a second region around the autonomous mobile robot ; a localization estimation part configured to calculate an estimated position of the autonomous mobile robot in an object region in which the transporter travels, in accordance with the first data; a route-generating part configured to calculate a position of the surrounding existence object present around the autonomous mobile robot in accordance with the second data, the route-generating part being configured to calculate a route to a target position in accordance with the estimated position of the autonomous mobile robot in the object region and the position of the surrounding existence object; a control part configured to control the driver in accordance with the route, the control part being configured to cause the autonomous mobile robot to travel to the target position; and a third detector configured to obtain third data associated with positions of the plurality of the wheels (C), wherein the control part controls the driver in accordance with the third data to cause the autonomous mobile robot to be disposed between a pair of the wheels (C) of the plurality of the wheels (C). <EOS>