Abstract: To deal with random object characterized by both landmark and obstacle in dynamic environments,a simultane-ous localization and mapping(SLAM) algorithm based on path planning is presented.During robot simultaneous localization and mapping,the robot motion control law is planned for the next step based on the potential field theory.The trajectory of random object is predicted by the interacting multiple model(IMM) method of hybrid current statistical model.The dynamic random object is associated with the map by the nearest neighbor method.The built map by the proposed algorithm is com-prised of trajectories of static landmarks and random objects.Simulation results show that the SLAM problem in dynamic environments with random objects characterized by obstacle is solved by the proposed algorithm.The relevant performance indicators prove that the estimation of the algorithm is consistent.