An animal farm system comprises a barn (2), animal related structures within the barn, such as a feeding alley (5) and/or a milking system (10), an autonomous vehicle (11) arranged to perform an animal related action and move about in the barn, wherein the vehicle comprises a control unit (14) to move the vehicle about, a position determining system (15) for determining a position of the vehicle in the barn, a sensor system (16, 17) to determine a value of a parameter related to a position of the vehicle with respect to the barn or an object therein, such as the at least one structure therein, and a vehicle communication device (18), wherein the control unit further is arranged to contain barn map information, and receive motion control and navigation information via the vehicle communication device, wherein the animal farm system further comprises an external communication device to exchange information with the vehicle communication device, wherein the control unit is arranged to send determined vehicle positions and determined parameter values to the external communication device, that is arranged to visualise the received vehicle positions and determined parameter values in dependence of the momentary determined position of the vehicle, and for inputting by a user of barn map information on the basis of the visualised position and/or parameter values, and to send the inputted barn map information to the control unit. A corresponding method comprises moving the vehicle, receiving vehicle positions and vehicle position dependent parameter values, and drawing a barn map based thereon.
