A mobile robot comprising: one or more tags configured to receive a signal from one or more beacons; a vision sensor configured to: distinguish and recognize a first area and a second area on a travelling path of the mobile robot, and acquire position information of a boundary line (W1, W2, W3) between the first area and the second area; and at least one processor configured to: determine position coordinates of the mobile robot based on pre-stored position information of the one or more beacons, determine position coordinates of the boundary line (W1, W2, W3) based on the determined position coordinates of the mobile robot and the acquired position information of the boundary line (W1, W2, W3), and generate a map of the first area while travelling along the determined position coordinates of the boundary line (W1, W2, W3), wherein the at least one processor is further configured to determine the position coordinates of the boundary line (W1, W2, W3) based on a distance to the boundary line (W1, W2, W3) and an angle of the boundary line (W1, W2, W3) with respect to the determined position coordinates of the mobile robot. one or more tags configured to receive a signal from one or more beacons; a vision sensor configured to: distinguish and recognize a first area and a second area on a travelling path of the mobile robot, and acquire position information of a boundary line (W1, W2, W3) between the first area and the second area; and distinguish and recognize a first area and a second area on a travelling path of the mobile robot, and acquire position information of a boundary line (W1, W2, W3) between the first area and the second area; and at least one processor configured to: determine position coordinates of the mobile robot based on pre-stored position information of the one or more beacons, determine position coordinates of the boundary line (W1, W2, W3) based on the determined position coordinates of the mobile robot and the acquired position information of the boundary line (W1, W2, W3), and generate a map of the first area while travelling along the determined position coordinates of the boundary line (W1, W2, W3), wherein the at least one processor is further configured to determine the position coordinates of the boundary line (W1, W2, W3) based on a distance to the boundary line (W1, W2, W3) and an angle of the boundary line (W1, W2, W3) with respect to the determined position coordinates of the mobile robot. determine position coordinates of the mobile robot based on pre-stored position information of the one or more beacons, determine position coordinates of the boundary line (W1, W2, W3) based on the determined position coordinates of the mobile robot and the acquired position information of the boundary line (W1, W2, W3), and generate a map of the first area while travelling along the determined position coordinates of the boundary line (W1, W2, W3), wherein the at least one processor is further configured to determine the position coordinates of the boundary line (W1, W2, W3) based on a distance to the boundary line (W1, W2, W3) and an angle of the boundary line (W1, W2, W3) with respect to the determined position coordinates of the mobile robot.