Robot and method for creating path of the robot

A robot comprising:

• a Time Of Flight (TOF) sensor configured to generate a depth map including a plurality of cells by measuring a distance to an object;
• an object detector configured to divide a boundary between several cells into a plurality of partitions according to a depth of each cell, extract a single closed loop formed by the divided boundary, and detect the position and shape of the object located at a first time using the extracted single closed loop;
• an object estimator configured to calculate a probability where the object can be located at a second time after t seconds on the basis of the detected position and shape of the object located at the first time;
• and
• a path creator configured to create a moving path of the robot without colliding with the object according to the calculated probability, wherein the object estimator is configured to calculate the probability where the object can be located at a second time after t seconds on the basis of the obtained position and the shape of the object using a Joint Probability Data Association Filter (JPDAF).