A robot cleaner, comprising: a position recognition unit (200; 210) having one or more sensors, and configured to recognize a position of the robot cleaner to detect a position change of the robot cleaner and to output position information; an obstacle detection unit configured to detect an obstacle and to output obstacle information; and a controller configured to control the robot cleaner based on the obstacle information and the position information, wherein: the obstacle detection unit includes a light pattern sensor, the light pattern sensor including: a light source module configured to irradiate a light pattern; a camera module configured to capture an image included in a region to which the light pattern has been irradiated; and an image processing module configured to detect an obstacle, the controller is configured to control the light source module based on detection of the position change of the robot cleaner by the position recognition unit (200; 210); the image processing module is configured to detect the obstacle based on a shape, an area and a change of the image captured by the camera module; and the image processing module is configured to detect the obstacle by extracting vertical component or horizontal component from the image captured by the camera module. a position recognition unit (200; 210) having one or more sensors, and configured to recognize a position of the robot cleaner to detect a position change of the robot cleaner and to output position information; an obstacle detection unit configured to detect an obstacle and to output obstacle information; and a controller configured to control the robot cleaner based on the obstacle information and the position information, wherein: the obstacle detection unit includes a light pattern sensor, the light pattern sensor including: a light source module configured to irradiate a light pattern; a camera module configured to capture an image included in a region to which the light pattern has been irradiated; and an image processing module configured to detect an obstacle, the controller is configured to control the light source module based on detection of the position change of the robot cleaner by the position recognition unit (200; 210); the image processing module is configured to detect the obstacle based on a shape, an area and a change of the image captured by the camera module; and the image processing module is configured to detect the obstacle by extracting vertical component or horizontal component from the image captured by the camera module. the obstacle detection unit includes a light pattern sensor, the light pattern sensor including: a light source module configured to irradiate a light pattern; a camera module configured to capture an image included in a region to which the light pattern has been irradiated; and an image processing module configured to detect an obstacle, a light source module configured to irradiate a light pattern; a camera module configured to capture an image included in a region to which the light pattern has been irradiated; and an image processing module configured to detect an obstacle, the controller is configured to control the light source module based on detection of the position change of the robot cleaner by the position recognition unit (200; 210); the image processing module is configured to detect the obstacle based on a shape, an area and a change of the image captured by the camera module; and the image processing module is configured to detect the obstacle by extracting vertical component or horizontal component from the image captured by the camera module.