Abstract: A computer peripheral system including a mobile vehicle, a two-way wireless link to a host computer and software residing on the host computer for providing control and guidance is disclosed. The system is installed on an existing host computer as an add-on peripheral device whose function is to perform some automatic task (e.g. floor cleaning) in a working environment (e.g. a home or business). The mobile vehicle is equipped with a plurality of sensors, data from which is conveyed to the host system over the wireless link. Software on the host computer communicates control and movement commands to the mobile system. A method and apparatus for sensing the position of the mobile vehicle in a working environment is also disclosed. Software installed on the host computer can use data from the sensing apparatus to automatically construct and maintain a map of the operating environment and to guide the mobile vehicle through the environment in order to carry out its task.