Abstract: In the framework of SP model,line segment features are extracted from laser scanning points to describe the indoor environment.An active simultaneous localization and mapping approach based on the optimal control is proposed. In this method,optimal control input is determined for the robot by comprehensively considering both the degree of system uncertainty and the level of environment exploration,so the robot can build an accurate and complete map of the environment. Experiments are carried out on the Pioneer 3 DX mobile robot platform and the results are presented to demonstrate the effectiveness of the approach.