<p>A control method of a robot cleaner includes: driving a driving part to rotate (S103) a cleaner main body when a obstacle sensor detects (S102) an obstacle, measuring (S104) a rotation angle of the cleaner main body in real-time, and comparing (S105) the measured total rotation angle with a predetermined reference rotation angle so as to determine that the obstacle sensor is broke down when the total rotation angle is more than the reference rotation angle and thus to stop (S106) the driving part. With this method, the robot cleaner can make the diagnosis of the breakdown to the obstacle sensor by itself to stop a driving thereof, and inform (S107) a user of the breakdown diagnosis to the obstacle sensor.</p>
