The Autonomous Robots Simulation System (AR-SIM) is developed forthe purpose of studying various issues concerning autonomous robots under complex indeterminate environment. The design principle, system structure, system feature as well as system implementation under Linux environment are described in this paper. And the paper puts forward the architecture of agent oriented autonomous robots.%针对复杂、不可预测环境下自主机器人系统的特点，研究开发了自主机器人仿真系统(AR-SIM)。本文介绍了AR-SIM的设计目的、系统特点、系统结构，以及在Linux环境下的系统实现，并提出了一种基于Agent的自主机器人控制结构。
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