A cleaning robot is provided. The cleaning robot includes a distance measuring sensor configured to measure distance information to an object located outside the cleaning robot, a memory configured to store a shape of the object, the distance information, and a plurality of commands based on the distance information to the object which is measured through the distance measuring sensor, and a processor configured to, when the cleaning robot is operated, estimate a type of the object by applying the shape of the object and the distance information stored in the memory to a learning network model configured to estimate a type of the object, and when the object is in a type that the object is to be avoided, re-set a driving route of the cleaning robot, and when the type of the object is an object to be driven, perform the commands which are set to maintain a driving route of the cleaning robot in progress, wherein the learning network model which is configured to estimate the type of the object is a learning network model which learns using a shape of the object, distance information to the object, and information of a type of the object.