Method for estimating relative position between moving robot and transmitter and apparatus thereof

A method and an apparatus for estimating a relative position between a moving robot and a transmitter are provided to reduce the manufacturing cost of the moving robot and to remove an error generated in using plural ultrasonic sensors with different sensitivity. An apparatus for estimating a relative position between a moving robot(100) and a transmitter by using a single sensor(112) installed at the moving robot is composed of a motion control unit(120) disposing the sensor at several measurement positions by rotating the moving robot, wherein several measurement positions are at least three points on a circle formed by the sensor; a distance measuring unit(110) having the sensor for detecting a predetermined wave generated from the transmitter and measuring the distance between the sensor and the transmitter at several measurement positions; a rotational angle measuring unit(130) measuring the rotational angle of the moving robot at several measurement positions; and a position calculating unit(150) calculating the relative position by using the measured distance, the measured rotational angle, and a radius of a circle formed by the sensor through the rotation of the robot.