Provided is a method of controlling a robot cleaner. The method of controlling the robot cleaner includes initiating a homing operation of moving the robot cleaner to a charger, detecting, by an ultra-wideband (UWB) antenna of the robot cleaner, a plurality of UWB signals output from a plurality of UWB antennas included in the charger, identifying position information of the charger and position information of the robot cleaner based on the detected plurality of UWB signals, and controlling the robot cleaner to move to the charger based on the identified position information of the charger and the identified position information of the robot cleaner.