A vacuum cleaner includes an actuator connected to a suction hose to rotate in left and right directions centering on a first rotation axis, or in forward and backward directions centering on a second rotation axis according to movement of the suction hose, a first displacement sensor detecting rotational displacement of the actuator in the left and right directions, and a second displacement sensor detecting rotational displacement of the actuator in the forward and backward directions, and controls activation of a plurality of driving motors according to the rotational displacement of the actuator in the left and right directions and in the forward and backward directions, which are detected by the first displacement sensor and the second displacement sensor, thereby advancing or rotating the main body in the left and right directions.