Method for controlling moving body, moving body, and computer-readable storage medium

The invention provides a control method of a moving body, the moving body, and a computer readable storage medium. The moving body is appropriately moved to a destination position. A method for controlling a moving body, which automatically moves, includes: causing a sensor provided on the moving body to detect an object a plurality of times, and acquiring a detection result of each detection by the sensor as a point group; estimating the position and orientation of the target object for each detection by the sensor on the basis of the point group; a reliability calculation unit that calculates, for each detection by the sensor, a degree of reliability with respect to the accuracy of the estimation result of the position and orientation of the target object; selecting, on the basis of the reliability of each detection by the sensor, an estimation result for setting an approach path to a target position at a predetermined position and orientation with respect to the target object from among the estimation resu