Doosan Bobcat’s R&D group has taken focus in recent years on developing an autonomous loader. Due to a reliance on GPS, the current system is restricted to the outdoors. To extend indoors, our Clinic team has designed and implemented a system for both localizing and navigating a mobile loader in a GPS-restricted environment. Our work focused primarily on finding an alternate means of positioning as well as finding techniques for path-planning and object detection for both the indoor and outdoor systems.