Importance

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Abstract

The invention provides an article transport vehicle that includes: 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 sensor for obtaining information necessary for obtaining a velocity of the vehicle body; and controller for controlling the first and the second drive motors, wherein the controller 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 and a travel velocity based on a detection by the velocity sensor, 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.

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First Claim