Shijee, MunkhsuldSupervisor 1: Ph.D. N. OdbilegSupervisor 2: Prof. Ph.D. P. Ariunbolor2026-11-112026B2200388https://gmitlibrary.net/handle/123456789/243This study presents the design and implementation of an autonomous mobile robot for street-cleaning applications, capable of environmental exploration and full-area coverage. The system is developed using the Pioneer P3DX mobile robot within the CoppeliaSim simulation environment and integrates ultrasonic sensors and a LiDAR sensor for perception and navigation. The primary objective of this research is to enable the robot to navigate along road curbs while acquiring information about the surrounding environment, and subsequently perform complete area coverage for cleaning tasks. During the exploration phase, the robot follows the curb using ultrasonic sensor feedback to maintain a consistent distance and avoid obstacles. This approach allows the robot to safely traverse the boundary of the environment and understand its spatial structure. Simultaneously, LiDAR sensor data is utilized to collect distance measurements of the environment, which are processed to obtain coordinate information representing the workspace. After completing the exploration phase, the acquired data is used to generate a coverage path, enabling the robot to systematically clean the entire area. External tools such as MATLAB can be employed to process the collected data, generate maps, and optimize the coverage path. Simulation results demonstrate that the robot can effectively follow road curbs, adapt to environmental variations, and collect consistent spatial data. Furthermore, the system is capable of performing structured coverage of the environment, ensuring efficient and complete cleaning. This work contributes to the development of intelligent autonomous robotic systems by integrating curb-following navigation, environmental data acquisition, and coverage planning into a unified framework. The proposed system can be extended with advanced mapping techniques, simultaneous localization and mapping (SLAM), and optimized path planning algorithms for real-world street-cleaning and urban maintenance applications.enStreet-cleaning robotPioneer P3DXCoppeliaSimCurb-following navigationLiDARUltrasonic sensorsCoverage path planningMATLABThesisDegree: Bachelor (Bachelor Thesis). Study program: Mechatronics Engineering, German-Mongolian Institute for Resources and Technology (GMIT). Supervisor 1 / Examiner: Ph.D. N. Odbileg; Supervisor 2 / Examiner: Prof. Ph.D. P. Ariunbolor.