To adapt to environments with objects characterized by both landmark and obstacle, an algorithm taking into
account path planning based on potential field and simultaneous localization and mapping(SLAM) is proposed. When robot is simultaneously localizing and mapping, the law of robot motion control is determined based on the principle of potential field. According to derivative control law, next step forecasting and state estimation are performed. In the path planning methods based on the potential field, the minimum distance of influence about repulsive potential of identified as obstacles can be adjusted. The experiment results show that the SLAM problem in environments with objects characterized by both landmark and obstacle is solved by using the proposed algorithm. The relevant performance indicators prove the consistency of estimates of the algorithm.