A moving robot , comprising: a traveling unit configured to move a main body ; a light reception unit configured to receive light; and a control unit configured to determine a traveling direction by filtering the light received from the light reception unit in accordance with a probability-based filtering method, and to control the traveling unit so that the main body travels in the traveling direction; wherein the control unit includes a main processor , characterized in the main processor including: a sampling unit (111-1) configured to select particles; a weight calculation unit (111-3) configured to assign a weight to each of the selected particles so that the difference between the arrangement angle of the light reception unit having received the light and the arrangement angle of the particles with respect to the front side of the moving robot is inversely proportional to the weight assigned to each of the particles; and a resampling unit (111-5) configured to reselect particles having a weight equal to or greater than a probabilistically preset reference based on the weight assigned to each of the particles, and to determine the traveling direction of the moving robot based on a weighted average value of the respective arrangement angles of the reselected particles with respect to the front side of the moving robot . a traveling unit configured to move a main body ; a light reception unit configured to receive light; and a control unit configured to determine a traveling direction by filtering the light received from the light reception unit in accordance with a probability-based filtering method, and to control the traveling unit so that the main body travels in the traveling direction; wherein the control unit includes a main processor , characterized in the main processor including: a sampling unit (111-1) configured to select particles; a weight calculation unit (111-3) configured to assign a weight to each of the selected particles so that the difference between the arrangement angle of the light reception unit having received the light and the arrangement angle of the particles with respect to the front side of the moving robot is inversely proportional to the weight assigned to each of the particles; and a resampling unit (111-5) configured to reselect particles having a weight equal to or greater than a probabilistically preset reference based on the weight assigned to each of the particles, and to determine the traveling direction of the moving robot based on a weighted average value of the respective arrangement angles of the reselected particles with respect to the front side of the moving robot . a sampling unit (111-1) configured to select particles; a weight calculation unit (111-3) configured to assign a weight to each of the selected particles so that the difference between the arrangement angle of the light reception unit having received the light and the arrangement angle of the particles with respect to the front side of the moving robot is inversely proportional to the weight assigned to each of the particles; and a resampling unit (111-5) configured to reselect particles having a weight equal to or greater than a probabilistically preset reference based on the weight assigned to each of the particles, and to determine the traveling direction of the moving robot based on a weighted average value of the respective arrangement angles of the reselected particles with respect to the front side of the moving robot . <EOS>