An animal farm system includes a barn, animal related structures within the barn, such as a feeding alley and/or a milking system, and an autonomous vehicle arranged to perform an animal related action and move about in the barn. The vehicle includes a control unit to move the vehicle about, a position determining system for determining a position of the vehicle in the barn, a sensor system 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. The control unit further is arranged to contain barn map information, and receive motion control and navigation information via the vehicle communication device.