Traveling apparatus

A traveling apparatus comprising:

• a vehicle body;
• a plurality of first detectors that is arrayed in an intersectant direction intersecting a travel direction where the vehicle body travels, and that is capable of detecting a guide extending on a road surface;
• a plurality of second detectors that is arrayed in the intersectant direction in a position distant, in the travel direction, from the plurality of first detectors and that detects the guide;
• and
• a controller that exerts guided travel control to control a traveling of the vehicle body based on a result of the detections by the plurality of first detectors and the plurality of second detectors,
• wherein a first interval between two first detectors out of the plurality of first detectors, that are adjacent to each other in the intersectant direction, is smaller than a second interval between two second detectors out of the plurality of second detectors, that are adjacent to each other in the intersectant direction,
• among the plurality of second detectors, a second detector at an end in the intersectant direction is located outward in the intersectant direction with respect to the plurality of first detectors, and
• when the plurality of first detectors does not detect the guide, the controller calculates a turning-angular velocity, based on an angular position of a second detector, included in the plurality of second detectors, that detects the guide, in relation to a reference point representing a turn center of the vehicle body, with reference to a median plane extending in, and passing through, the travel direction, and controls the traveling of the vehicle body such that to turn the vehicle body at the turning-angular velocity.