Only when a wall side and the vicinity of an obstacle are cleaned, a side
brush is operated and the cleaning is carried out, and when any other place than the wall side and the vicinity of the obstacle is cleaned, the side
brush is maintained in a stoppage state. When a place such as the wall side or the vicinity of the obstacle in which dust is easy to accumulate is cleaned, the side
brush is operated to enhance the dust collecting property. When any other place than the wall side or the vicinity of the obstacle is cleaned, the side brush is stopped to suppress
power consumption and generation of a
noise. A judgment
processing portion detects based on a detection
signal from an obstacle detecting portion that a cleaner is approaching a wall or an obstacle. In response to such detection, the judgment
processing portion instructs a travel steering portion to carry out immediate rotation and change of a travel direction, or travel along a wall side. Also, the judgment
processing portion instructs a side brush driving portion to drive a side brush only in the rotation and in the wall side travel, and to stop the side brush in straight advance travel.