Abstract: A self-propelled robot includes: a force sensor for detecting a lateral force in a wheel axial direction of each of a left drive wheel and a right drive wheel when a main body travels straight; an acquisition unit that acquires left target speed and right target speed, respectively, for the left drive wheel and the right drive wheel; a correction amount calculation unit that calculates a left correction amount and a right correction amount for the left target speed and the right target speed, respectively, based on the corresponding lateral forces detected by the force sensor; a correction unit that corrects the left target speed and the right target speed, respectively, based on the left correction amount and the right correction amount; and a drive unit that drives the left drive wheel and the right drive wheel, respectively, based on the left target speed and the right target speed corrected by the correction unit.