This work presents different approaches to the obstacle avoidance algorithm for a robot that moves in an unknown, unstructured indoor environment. The first step is the investigation and study of the platform, divided into software and hardware, available at the Mechatronics Laboratory (Laboratorio Interdisciplinare di Meccatronica, LIM) at the Politecnico di Torino, on which it is implemented the navigation algorithm. For what is concerned with the software platform, ROS has been used. The Robot Operating System is an open source framework to manage robots’ operations, tasks, motions. It represents the Operating System mounted on the two Turtlebot (Burger, Waffle), hardware platform, that are available at the LIM.