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In recent years, with the rapid development of artificial intelligence, many innovative changes have been made in the field of intelligent mobile robot development. In the field of control and navigation of mobile robots, learning-based methods have many advantages over traditional ones. The study of mobile robot control methods using deep reinforcement learning is a remarkable area in the development of mobile robots that must operate in dynamic environments. In the previous studies, the proposed robot control algorithms using deep reinforcement learning are mostly based on the given target point and obstacle information, the robot path planning is performed, and the corresponding control is based on the obtained path. The DDPG-based method is a typical example. However, in dynamic environments, DRL based robot path planning requires a state of target point and obstacles information, which leads to a large amount of computation, resulting in extremely long convergence time and even non-convergent cases. In this paper, we propose a new method for mobile robot control in dynamic environment that solves the dimensional problem by extracting the features of the configuration of obstacles using autoencoder and learning the DDPG algorithm based on the obtained features. Simulation results show that the proposed algorithm can effectively solve the mobile robot control problem in dynamic environment.