Patent ID: 7205730

Claim:
An article transport vehicle, comprising: a vehicle body; a first wheel that supports the vehicle body; a second wheel that is disposed spaced apart from the first wheel in a fore-and-aft direction, and that supports the vehicle body; a first drive motor capable of driving the first wheel; a second drive motor capable of driving the first wheel; velocity detection means for obtaining information necessary for obtaining a velocity of the vehicle body; and control means for controlling the first and the second drive motors; wherein the control means performs a first travel velocity control with respect to the first drive motor so as to control the first drive motor based on a difference between a target travel velocity determined by a predetermined travel pattern and a travel velocity based on a detection by the velocity detection means, and performs a first conflict suppress control with respect to the second drive motor so as to control the second drive motor to reduce conflict with driving of the first wheel by the first travel velocity control.