A cleaning robot includes a data acquisition unit that acquires actual sensor data by measuring a distance from a current position to an object to be measured; a local map acquisition unit that acquires a local map by scanning the vicinity of the current position based on an environmental map stored in advance; and a processor that determines coordinates of the current position for the local map by performing matching between the local map and the actual sensor data, and determines a traveling direction based on the current position by calculating a main segment angle of a line segment existing in the local map.