An operating method for navigating a device in a dynamic environment is provided. The method includes building a map based on sensor data, localizing a position of the device on the map based on the sensor data, determining a first position of a moving object on the map based on the sensor data, determining a momentum of the moving object, determining a second position of the moving object on the map based on the determined momentum, and changing the position of the device based on the determined second position of the moving object and a position of at least one obstacle.