MOVING ROBOT AND CONTROL METHOD THEREOF

Creating a map of a moving robot includes: receiving sensor data regarding a distance to an external object through a distance measurement sensor; creating a cell-based grid map based on the sensor data; performing image processing to distinguish between regions in the grid map and create a boundary line between the regions; selecting an optimal boundary line if one or more boundary lines exist; planning a path to the optimal boundary line; and updating the grid map, while moving along the path, whereby a map may be automatically created.