Nowadays, autonomous mobile robots are widely used in many different fields, from industries to home environments. To ensure autonomy from human intervention, a navigation system that includes obstacle avoidance, as well as an autonomous recharging system capable of guaranteeing long term activity, is essential. This work is part of a project carried out by the InnoTech System company in collaboration with the California State University of Los Angeles. Their goal is to develop a fully autonomous differential drive robot capable of executing various tasks such as helping people at the San Diego airport terminal or delivering food to students in the University Citadel.