For this project, I built an autonomous system that maps indoor environments using a LiDAR-equipped F1-Tenth car. The car explores on its own by generating real-time 2D maps with SLAM and planning paths toward unexplored areas. A custom heuristic improves navigation by keeping the vehicle safely away from walls and obstacles. In testing, the system produced accurate maps in enclosed spaces and maintained localization error under 1 cm, even during complex maneuvers. The project demonstrated reliable autonomous mapping on both simulated and real-world environments, overcoming challenges like sensor noise, planning delays, and hardware constraints.