In　this　paper,　we　presents　an　efficient　simultaneous　localization　and　mapping　(SLAM)　technique　in　multi-obstacle　environment　for　indoor　mobile　robot　navigation　based　on　Laser　Range　Finder.　We　use　Rao-Blackwellized　Particle　Filter　(RBPF)　to　localize　mobile　robot　and　use　Vector　Field　Histogram　(VFH)　for　obstacle　avoidance.　In　our　system,　Robot　Technology　Middleware　(RTM)　was　used.　By　using　RTM,　we　can　develop　functional　elements　as　＂RT　software　components＂　that　can　be　implemented　by　different　programming　languages,　run　in　different　operating　system,　or　connected　in　different　networks　to　inter-operate.　Based　on　RTM,　we　developed　LRF　data　getting　component,　mobile　robot　control　component,　VFH　component,　RBPF　component　and　GUI　component.　This　paper　describes　the　architecture　of　the　proposed　system　and　gives　some　experimental　results.