Introduction: This project was motivated by the rapid advancement of robot technology. Many robots are becoming self-reliant and able to do tasks autonomously without any supervision. One hard task for a robot to do alone is navigating, and this project was done to see how A star algorithm can solve the problem. AI works in a know environment, meaning the robot will navigate easily if it has the layout of the environment in its memory, unfortunately, that is not the case most of the time. Our contribution to the project was to modify the A star algorithm and make it work in an unknown environment and build a simulation to test whether it works or not. We also built it too see the difference different variable changes can make, such as, laser, map layout, starting and ending points…etc. To do a simulation we used Gazebo ROS which is an excellent environment to simulate robot movements and behaviors since it emulates real life to a really good degree, ROS which stands for robot operating system, also gives us the tool to control the robot using software.