A self-guided robot for traveling with a predetermined traveling pattern includes a gyro sensor for detecting an angle indicative of a traveling direction from a reference position, a left rotary encoder and a right rotary encoder for detecting a traveling distance from the reference position, left and right driving wheels for allowing a main body to move, and a left driving wheel motor and a right driving wheel motor for driving the left and right driving wheels for travel. A CPU calculates a deviation amount from a planned route on the basis of detection amounts from gyro sensor, left rotary encoder and right rotary encoder, and controls the driving of left driving wheel motor and right driving wheel motor on the basis of the calculated deviation amount.