A method for controlling a robot cleaner includes: a step of controlling at least one of a first rotation member and a second rotation member to rotate depending on a traveling mode to travel the robot cleaner in a specific proceeding direction; a step of identifying whether or not an obstacle is detected from a sensor corresponding to the proceeding direction of the robot cleaner; and a step of rotating at least one of the first rotation member and the second rotation member depending on whether or not the obstacle is detected.