A mobile robot comprising: a body driven in a cleaning area; a sensor unit for detecting inclination of the body and inputting a detection signal; a first pattern emission unit disposed on a front surface of the body and for emitting first pattern light toward a lower side of a front side of the body; a second pattern emission unit disposed on the front surface of the body, disposed below the first pattern emission unit, and for emitting second pattern light toward an upper side of the front side of the body; an image acquirer disposed on the front surface of the body and for acquiring an image of the front side of the body; and a controller for detecting a first light pattern corresponding to the first pattern light and a second light pattern corresponding to the second pattern light from the acquired image input from the image acquirer, determining an obstacle, and performing control to pass or avoid the obstacle, wherein the controller determines whether the body is inclined based on the detection signal input from the sensor unit, and when the body is inclined, the controller re-determines whether the obstacle is present through inclination compensation with respect to the first light pattern depending on the inclination of the body, characterized in that the body is suitable for absorbing foreign substances on a floor in the cleaning area, wherein the controller adjusts a position of the first light pattern to perform inclination compensation to correspond to an inclination angle of the body , or the controller changes a reference position with respect to the first light pattern to perform inclination compensation to correspond to an inclination angle of the body . a body driven in a cleaning area; a sensor unit for detecting inclination of the body and inputting a detection signal; a first pattern emission unit disposed on a front surface of the body and for emitting first pattern light toward a lower side of a front side of the body; a second pattern emission unit disposed on the front surface of the body, disposed below the first pattern emission unit, and for emitting second pattern light toward an upper side of the front side of the body; an image acquirer disposed on the front surface of the body and for acquiring an image of the front side of the body; and a controller for detecting a first light pattern corresponding to the first pattern light and a second light pattern corresponding to the second pattern light from the acquired image input from the image acquirer, determining an obstacle, and performing control to pass or avoid the obstacle, wherein the controller determines whether the body is inclined based on the detection signal input from the sensor unit, and when the body is inclined, the controller re-determines whether the obstacle is present through inclination compensation with respect to the first light pattern depending on the inclination of the body, characterized in that the body is suitable for absorbing foreign substances on a floor in the cleaning area, wherein the controller adjusts a position of the first light pattern to perform inclination compensation to correspond to an inclination angle of the body , or the controller changes a reference position with respect to the first light pattern to perform inclination compensation to correspond to an inclination angle of the body . <EOS>