An autonomous ackermann steering robot was designed and implemented using a 1:10 RC car chassis, Arduino Mega, Raspberry PI, 2D LiDAR, 9 DoF IMU & an ESC. 2D mapping was done by using gmapping & hector mapping. Localization was achieved using adaptive monte carlo localization. Path planning was implemented using an adaptive trajectory controller. Odometry was achieved by fusing LiDAR & IMU data using EKF.