According to the present invention, there is provided a distance determining method for avoiding obstacles of a mobile robot, the method comprising: (a) calculating a position and a covariance of the mobile robot, a position and a covariance of the obstacle; (B) calculating a collision probability distribution density by expressing a relative collision probability distribution of the mobile robot and the obstacle as variables of a covariance and converting a coordinate system of the collision probability distribution to an eigenvector; Determining whether a position of the mobile robot exists outside the area of the obstacle using the collision probability distribution density, the distance between the position of the mobile robot and the distance of the Mahalanobis distance, )step; And (d) calculating a distance between the mobile robot and the obstacle using the Lagrangian multiplier if it is determined that the position of the mobile robot is outside the area of the obstacle in step (c) The movement path is calculated in consideration of the uncertainty of the position.
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