A robot vacuum cleaner according to an embodiment of the present invention comprises: a main body part to which a first rotating member and a second rotating member, to which a circular cleaner can be fixed, are coupled so as to protrude toward a non-cleaning surface; a driving unit, fixed in the interior of the main body part, for driving the first rotating member toward a first direction or a second direction and the second rotating member toward a first direction or a second direction; one or more sensors, provided on the outer surface of the main body part, for sensing obstacles in the vicinity of the robot vacuum cleaner; and a control unit, connected to the sensor, for controlling the rotations of the first rotating member and the second rotating member by controlling the driving unit.