A mobile vehicle provided with moving means and a moving control device automatically travels while detecting an advance distance and a turning angle by means of one optical displacement sensor. The mobile vehicle comprises a moving unit (2) for moving a body (1), one optical displacement sensor (7) as a displacement sensor provided on the body (1), and a moving control device for controlling the moving unit (2) based on a moving distance detected by the optical displacement sensor (7). The moving control device determines the distance of rectilinear movement and a turning angle of the body (1) from an amount detected by the optical displacement sensor (7). The optical displacement sensor (7) picks up patterns or the like on a traveling floor surface at specified time intervals and detects a moving distance by comparing images before and after the specified time.