A mobile body includes: left and right driving wheels provided on a main body; a drive unit for driving each of the driving wheels; left and right swivel casters; and a controller for controlling the drive unit. The controller includes: an estimation unit for estimating a front-rear distance between a ground contact position of the swivel caster and a center of gravity; a limit velocity calculation unit for calculating a stability limit velocity based on the front-rear distance estimated by the estimation unit, a front-rear distance between a ground contact position of the driving wheel and the center of gravity, a cornering power of the driving wheel, and a cornering power of the swivel caster when a predetermined calculation condition is satisfied; and a driving control unit for controlling the drive unit such that a velocity of the mobile body is less than or equal to the stability limit velocity.