A cleaner performing autonomous traveling, the cleaner comprising: a main body; a driving unit moving the main body; a battery supplying power to the driving unit; a communication unit performing communication with a charging station to charge the battery; a sensor sensing a signal emitted from the charging station; and a controller controlling the driving unit such that the main body is docked to the charging station on the basis of the signal sensed by the sensor, wherein when the main body starts to move to dock to the charging station, the controller is configured to determine a kind of the signal sensed by the sensor and controls the driving unit such that the main body moves along a traveling path corresponding to a circle centered on a predetermined point on the basis of the determined kind of the signal, when the main body starts to move to dock to the charging station, if the signal sensed by the sensor includes a short-ranged signal, the controller is configured to control the driving unit such that the main body moves along a traveling path corresponding to a circle centered on a predetermined point on the basis of the determined kind of the signal, wherein the sensor is configured to sense information related to an obstacle present near the main body, and the controller is configured to determine whether an obstacle is present on the traveling path using information sensed by the sensor, while the main body is moving along the traveling path corresponding to the circle, wherein when it is determined that an obstacle is present on the traveling path, the controller is configured to control the driving unit such that the main body is maintained at a predetermined distance from the obstacle, wherein the controller is configured to detect a distance between the center of the circle and the main body, while the obstacle present on the traveling path is avoided, characterized in that when it is determined that an obstacle is present on the traveling path, the controller is configured to control the driving unit such that the main body is maintained at the predetermined distance from the obstacle and the distance between the center of the circle and the main body is shorter than the radius of the circle. a main body; a driving unit moving the main body; a battery supplying power to the driving unit; a communication unit performing communication with a charging station to charge the battery; a sensor sensing a signal emitted from the charging station; and a controller controlling the driving unit such that the main body is docked to the charging station on the basis of the signal sensed by the sensor, wherein when the main body starts to move to dock to the charging station, the controller is configured to determine a kind of the signal sensed by the sensor and controls the driving unit such that the main body moves along a traveling path corresponding to a circle centered on a predetermined point on the basis of the determined kind of the signal, when the main body starts to move to dock to the charging station, if the signal sensed by the sensor includes a short-ranged signal, the controller is configured to control the driving unit such that the main body moves along a traveling path corresponding to a circle centered on a predetermined point on the basis of the determined kind of the signal, wherein the sensor is configured to sense information related to an obstacle present near the main body, and the controller is configured to determine whether an obstacle is present on the traveling path using information sensed by the sensor, while the main body is moving along the traveling path corresponding to the circle, wherein when it is determined that an obstacle is present on the traveling path, the controller is configured to control the driving unit such that the main body is maintained at a predetermined distance from the obstacle, wherein the controller is configured to detect a distance between the center of the circle and the main body, while the obstacle present on the traveling path is avoided, characterized in that when it is determined that an obstacle is present on the traveling path, the controller is configured to control the driving unit such that the main body is maintained at the predetermined distance from the obstacle and the distance between the center of the circle and the main body is shorter than the radius of the circle.