This　paper　mainly　studies　the　problem　of　autonomous　exploration　of　mobile　robots　under　indoor　unknown　environment,　and　proposes　an　improved　strategy.　Firstly,　a　method　is　proposed　to　extract　the　target　point　based　on　the　accessible　area　to　supplement　the　defects　of　the　original　method　in　the　special　environment　structure.　Then,　a　real-time　topology　map　construction　and　optimization　method　based　on　laser　data　and　grid　map　information　is　proposed,　which　makes　the　exploration　map　more　streamlined　and　the　exploration　process　is　more　efficient.　Finally,　the　improved　obstacle　avoidance　module　is　used　to　achieve　the　robot＇s　motion　control　and　reach　the　goal　safetly.　At　the　same　time,　the　system　adopts　the　distributed　structure　under　robot　operating　system　(ROS),　allocates　the　whole　algorithm　to　the　client　and　the　server　reasonably,　and　reduces　the　hardware　requirement　of　the　system.　Field　experiments　show　that　the　proposed　method　has　good　performance,　and　offers　advantages　with　respect　to　map　building　and　obstacle　avoidance　in　complex　and　unknown　indoor　environment.　©　2019,　Editorial　Office　of　Control　and　Decision.　All　right　reserved.