MOVING OBJECT CONTROL SYSTEM, CONTROL METHOD THEREFOR, AND RECORDING MEDIUM

A moving object control system that controls an operation of a moving object including a drive wheel and a driven wheel. The moving object control system generates a trajectory along which the moving object travels based on a target position and trajectories that are generatable from velocities and angular velocities of the moving object that satisfy a predetermined constraint condition and controls traveling of the moving object in accordance with the generated trajectory. The predetermined constraint condition includes a constraint determined from a travelable velocity of the moving object, a constraint determined from an acceleration at which the moving object is capable of accelerating, and a constraint depending on an angle of the driven wheel.