Mobile robot and control method thereof

According to a configuration of a mobile robot and a control method thereof according to the present invention, a cleaning cloth is rotated using a motor to move a main body while cleaning a floor surface such that a change in a position of the main body is analyzed to determine a traveling state. When it is determined that the main body is abnormally driven and deviates from the configured movement path, the corresponding position is stored and re-cleaning is performed such that the position where the abnormal travel has occurred is re-cleaned, and the configuration of the next cleaning may be arranged in consideration of the position where the abnormal travel has occurred. Therefore, the cleaning efficiency can be improved. 根据依据本发明的移动机器人及其控制方法的配置，使用马达旋转清洁布以在清洁地板表面的同时移动主体，使得主体的位置的变化被分析以确定行驶状态。当确定主体被异常地驱动并且偏离所配置的移动路径时，对应的位置被存储并执行重新清洁，使得已经发生异常行驶的位置被再次新近地清洁，并且可以考虑到已经发生异常行驶的位置来布置下一次清洁的配置。因此，本发明可以提高清洁效率。