A mobile robot measures a rotation angle using information from an image
photographed by a vision camera. A mobile robot system comprises a main
body of the robot, a driving part for driving a plurality of wheels; a
vision camera mounted on a main body thereof to photograph an upper image
which is perpendicular to a traveling direction; and a controller for
calculating a rotation angle using polar-mapping image data obtained by
polar-mapping a ceiling image, photographed by the vision camera, with
respect to a ceiling of a working area. The controller drives the driving
part using a calculated rotation angle. The rotation angle is measured by
the vision cameras and the rotation angle can be used to compensate the
working path, without having to provide expensive devices such as an
accelerometer or a gyroscope, thereby saving manufacturing cost.