A fundamental competence of any mobile robot systems is the ability to self localization in an environment. For unknown environment there is need to combine localization with automatic building a map  to facilitate the localization process. Combination  of  these properties  is denoted as Simultaneous Localization and Mapping (SLAM). In this diploma thesis we focus on SLAM in indoors. In this paper some of  successful mapping method   states  too. Paper discuss problems for autonomous mobile robots such as  scanning the environment, odometry and building sensoric maps. Paper descriptions simulating tool for autonomous mobile robot  simulating  process.