PURPOSE: A position estimation system of an autonomous moving object is provided to estimate the position of a tracked mobile robot accurately without a wheel encoder.;CONSTITUTION: A position estimation system(100) of an autonomous moving object comprises an estimated position determining unit(110), an estimated position-based proposed site extraction unit, a weighted value determining unit(120), and a present position estimation unit(130). The estimated position determining unit is operated based on the routes of an autonomous moving object. The estimated position-based proposed site extraction unit is operated based on proposed sites. The weighted value determining unit determines weighted value by comparing a first distance to a target from the autonomous moving object and a second distance to the target from the present proposed site.;COPYRIGHT KIPO 2013;[Reference numerals] (110) Estimated position determining unit; (120) Weighted value determining unit; (130) Present position estimation unit; (140) Power supply unit; (150) Main control unit
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