Pushcart

A pushcart comprising:

• a main body;
• a first wheel provided at a left side of the main body;
• a second wheel provided at a right side of the main body;
• a first wheel driver that rotates the first wheel about a rotational shaft of the first wheel;
• a second wheel driver that rotates the second wheel about a rotational shaft of the second wheel;
• a controller that separately controls the first wheel driver and the second wheel driver;
• and
• a wheel angular velocity detector that detects an angular velocity of each of the first wheel and the second wheel about the respective rotational shafts,
• wherein the controller performs a feedback control using at least an integral operation on the angular velocities of the first wheel and the second wheel about the rotational shafts thereof,
• wherein the controller calculates a weighted average of an integral element with respect to the angular velocity of the first wheel about the rotational shaft of the first wheel and an integral element with respect to the angular velocity of the second wheel about the rotational shaft of the second wheel, and
• wherein the controller separately controls the first wheel driver and the second wheel driver based on the weighted average.