In this thesis we focus on the design of the mobile robotic platform MapBot with omniwheel chassis and the design of an application for simultaneous localization and mapping. Thesis includes design and validation of the methodical procedure for creating a mathematical model based on the mobile robotics platform MapBot. The mathematical model is acquired using experimental and analytical identification of the robotic platform MapBot and consequently is validated against real behavior of this platform. Thesis deals with the implementation of proposed control algorithms on the robotic platform MapBot and also with the design of the simulation library OmniWheel Lib in Simulink for working with designed mathematical model. This thesis deals with the design of the application MapTool for simultaneous localization and mapping in the ROS environment. Part of the thesis includes proposed modification of framework FRED as part of the project „Experiment ALICE on LHC CERN“