US Patent 11324371 Robot and method for controlling same

To successfully deal with a problem to be solved by the present invention, a cleaner for performing automatic driving according to an embodiment of the present invention comprises: a body; a driving unit for moving the body; a detecting unit for acquiring information relating to an environment around the body while the body runs in a cleaning area; and a control unit which generates map information corresponding to the cleaning area on the basis of the information acquired by the detecting unit, configures a driving cost value for each of multiple grids included in the map information, and configures a driving route of the body on the basis of the configured driving cost value.