"SciShow Space" on Youtube shows you that expert scientists are discovering new objects in the solar system all the time. Most of these are small asteroids or icy bodies, but researchers recently spotted something unexpectedly huge heading our way.
A comet is an icy, small Solar System body that, when passing close to the Sun, warms and begins to release gases, a process that is called outgassing. This produces a visible atmosphere or coma, and sometimes also a tail. These phenomena are due to the effects of solar radiation and the solar wind acting upon the nucleus of the comet. Comet nuclei range from a few hundred meters to tens of kilometers across and are composed of loose collections of ice, dust, and small rocky particles. The coma may be up to 15 times Earth's diameter, while the tail may stretch beyond one astronomical unit. If sufficiently bright, a comet may be seen from Earth without the aid of a telescope and may subtend an arc of 30° (60 Moons) across the sky. Comets have certainly been observed and recorded since ancient times by many cultures and religions.
Comets usually have highly eccentric elliptical orbits, and they have a wide range of orbital periods, ranging from several years to potentially several millions of years. Short-period comets originate in the Kuiper belt or its associated scattered disc, which lie beyond the orbit of Neptune. Long-period comets are thought to originate in the Oort cloud, a spherical cloud of icy bodies extending from outside the Kuiper belt to halfway to the nearest star. Long-period comets are set in motion towards the Sun from the Oort cloud by gravitational perturbations caused by passing stars and the galactic tide. Hyperbolic comets may pass once through the inner Solar System before being flung to interstellar space. The appearance of a comet is called an apparition.
Comets are certainly distinguished from asteroids by the presence of an extended, gravitationally unbound atmosphere surrounding their central nucleus.