This thesis is organized in 8 sections, as follows: Section 1: Introduction. The first, introductory section, presents the motivation of the research, the overview of the area and the research so far. The main goal of the study is set, followed by a hypothesis. The plan and methodology of research work are presented. The rest of paper is organized as follows. Section 2: Problem Description. In section 2, the primary goal of the research is established. Research work plan and research methodology are presented. Furthermore, the definition of tasks and terms are established. Section 3: Mathematical Model of the Mobile Robot. In section 3, a definition of robot motion with mathematical models of the mobile robot system is described. Section 4: Algorithms for Building a Cognitive Model of the eMIR Mobile Robot Environment. The cognitive model of the closed environment (developed algorithms for a cognitive behaviour of the mobile robot) is thoroughly described in section 4. Section 5: Design of a Mechatronic System for Creating a Cognitive Model of Robot Space. In section 5, the development process of a mechatronic system used in research is described. Section 6: Results. In section 6, experimental validation of the developed control model and the obtained results are described in detail. Section 7: Discussion. The results obtained on the developed real mobile robot system were compared with those obtained by simulations. The applicability of the developed algorithms on a real robot system has been confirmed. This outcome is described in section 7. Section 8: Conclusion. In section 8, an evaluation of the obtained results is discussed, and a critical review is given. Appendix 1, contains information on additional materials such as codes, images, CAD models, simulation models, etc., and a link to a video of a cross-section of the entire study. Appendix 2, on the other hand, contains the most important algorithms developed for the successful implementation of this research.