Disclosed is a cleaning robot having an improved driving unit for being capable of escaping untravelable states occurring under various travel conditions. The cleaning robot comprises a main body and a driving unit for driving the main body. The driving unit comprise a first driving motor and a second driving motor which generate driving forces; a driving wheel which rotates by receiving the driving force from the first driving motor; and a wheel frame which supports the driving wheel so that the driving wheel can rotate, and which can rotate between a first location and a second location with respect to a motor shaft in the first driving motor. The wheel frame rotates by receiving the driving force from the second driving motor in at least a partial section between the first location and the second location.