Robot cleaner and method for controlling the same

A robot cleaner comprising:

• a main body;
• at least one main wheel configured to move the main body;
• a suction port assembly disposed at a front of the main body and configured to perform cleaning;
• at least one sensor configured to sense an obstacle around the main body and acquire information related to a height of the obstacle;
• and
• a controller configured to:
• when the at least one sensor senses the obstacle and the height of the obstacle, and the controller determines that the height of the obstacle is equal to or lower than a predetermined height, control the at least one main wheel to move the main body forward to bring the main body into a first contact state in which a front end of the suction port assembly cleans a first region while in contact with the obstacle,
• after moving the main body into the first contact state, control the at least one main wheel to move the main body backward in a straight line, and
• after moving the main body backward in the straight line, control the at least one main wheel to rotate the main body at a predetermined angle at a final point of backward movement and bring the main body into a second contact state in which the front end of the suction port assembly cleans a second region while in contact with the obstacle,
• wherein the first region and the second region are arranged along an outline of the obstacle.