A cleaning robot includes a non-circular main body, a moving assembly mounted on a bottom surface of the main body to perform forward movement, backward movement and rotation of the main body, a cleaning tool assembly mounted on the bottom surface of the main body to clean a floor, a detector to detect an obstacle around the main body, and a controller to determine whether an obstacle is present in a forward direction of the main body based on a detection signal of the detector, control the rotation of the main body to determine whether the main body rotates by a predetermined angle or more upon determining that the obstacle is present in the forward direction, and determine that the main body is in a stuck state to control the backward movement of the main body if the main body rotates by the predetermined angle or less.