A self-traveling cleaning robot includes: a stepped portion detecting unit for detecting a stepped portion of a floor arranged on the center front part of the bottom of the robot main body; an angle detecting unit for detecting the rotation angle of the main body in horizontal direction of the main body; and a travel control unit for controlling a travel based on the detection output of the stepped portion detecting unit and the angle detecting unit, wherein the travel control unit stops when a stepped portion is detected by the stepped portion detecting unit, and rotates to the left and to the right in that state thus detecting the rotation angle up to the boundary of the stepped portion in each direction by way of the angle detecting unit, thereby correcting the posture of the robot main body based on the detected angle.