Mobile body and method for controlling same

A mobile body comprising:

• a body;
• a front wheel coupled to a front side of the body and configured to rotate relative to the body;
• a rear wheel coupled to a rear side of the body and configured to rotate relative to the body;
• a front wheel driver coupled to the body and the front wheel and configured to transmit a front driving force to the front wheel;
• a rear wheel driver coupled to the body and the rear wheel and configured to transmit a rear driving force to the rear wheel;
• a body angle detector disposed at the body and configured to acquire a body angle at which the body is tilted relative to a ground;
• and
• a processor connected to the body angle detector, the front wheel driver, and the rear wheel driver,
• wherein the processor is configured to, based on receiving a forward movement signal, control the front wheel driver to rotate the front wheel at a first speed based on the body angle being greater than a forward movement inclination threshold, the first speed being determined based on a control value corresponding to an angular velocity of the body calculated from information acquired by the body angle detector, and
• wherein the control value corresponding to the angular velocity of the body decreases based on the angular velocity of the body increasing.