PROBLEM TO BE SOLVED: To provide a mobile body control apparatus, a control method for the same, and a control program which can provide high safety while reducing costs.SOLUTION: A mobile body control apparatus 10 is provided with: friction torque calculation means 18 which calculates friction inherent to a driving system and friction torque of each drive wheel generated between a road surface and each drive wheel on the basis of rotation information of each drive wheel detected by rotation detection means 16 external force calculation means 19 which calculates external force torque occurring to the drive wheel by an external force added to a mobile body on the basis of inertia torque of each drive wheel, driving torque calculated by driving torque calculation means 17, the friction torque calculated by the friction torque calculation means, and an equation of motion of each drive wheel, and calculates an external force acting on a center of gravity position of the mobile body by using the calculated external force torque of the drive wheel and an equation showing relation between the external force torque of the drive wheel and the external force acting on the center of gravity position of the mobile body and mobile body control means 11 for controlling movements of the mobile body in accordance with the calculated external force.COPYRIGHT: (C)2014,JPO&INPIT【課題】コスト低減をしつつ高い安全性が実現できる移動体制御装置、その制御方法、及び、制御プログラムを提供する。【解決手段】移動体制御装置10は、回転検出手段16により検出された各駆動車輪の回転情報に基いて駆動系に内在する摩擦及び路面と各駆動車輪との間に生じる各駆動車輪の摩擦トルクを算出する摩擦トルク算出手段18と、各駆動車輪の慣性トルクと駆動トルク算出手段17により算出された駆動トルクと摩擦トルク算出手段により算出された摩擦トルクと各駆動車輪の運動方程式とに基いて移動体に付加された外力により駆動車輪に生じる外力トルクを算出し、算出した駆動車輪の外力トルクと駆動車輪の外力トルクと移動体の重心位置に作用する外力との関係を示す式とを用いて移動体の重心位置に作用する外力を算出する外力算出手段19と、算出された外力に応じて移動体の移動を制御する移動体制御手段11と、を備える。【選択図】図3
