the classification the measuring quality is determined with reference to the results that the individual sensors have supplied or the respective cell the extent to which the classifications of the individual sensors confirm one another is evaluated thereto sensors whose measured results deviate from a great number of other sensors are classified as faulty in order to prevent dynamic objects in the environment from falsifying the quality statement the system can implement a self test in that it turns around its own axis within a static but not necessarily known environment and subsequently undertakes the evaluation of the sensors application_number US 26998299 A description fig1 shows an environment map character that was constructed according to a method from the prior art character 1 references free cells of the cellularly structured environment map character 2 references cells that have a high probability of not being occupied and character 3 references cells that represent obstacles with great probability character 4 indicates the track of the autonomous mobile system ams in the known system for constructing a cellularly structured environment map u for example according to elfes elfes a dynamic control of robot perception using stochastic spatial models information processing in autonomous mobile robots proceedings of the international workshop in munich germany 6 8 march 1991 springer verlag berlin germany 1991 and elfes a dynamic control of robot perception using multi property inference grids proceedings of the 1992 ieee international conference on robotics and automation nice france may 1992 this is built up by the incoming measurements m with the assistance of a simplified probabilistic.