This research work is based on design and construction of a floor cleaning robot with two modes - automatic and manual mode. It supports automatic mode in this paper. IR sensor is used to avoid the obstacles and change left direction after right direction and it is mounted at the front side of the robot. It is applied to meet the U turn movement for complete coverage navigation by using optocoupler based encoder feedback. In this system, two motors 555 dc gear motor are used with L298 for robot movement, and other 12V dc motor is used with MOSFET driver to control the speed of the cleaner. The wireless connection between remote control and robot is established by using RF module. In U paths, the robot moves forward direction and turn left if it is detected wall and turn left again and move forward direction. Battery percentage, cleaner speed, movement of the robot and selected mode are displayed on the LCD. ATmega328P microcontroller based Arduino UNO board are applied as the heart of the system. Simulation test and experimental test are utilized for stable response in domestic application. Kyawt Kay Thwe | Zaw Myo Tun "Automatic Floor Cleaning Robot using Encoder" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-3 | Issue-5 , August 2019, URL: https://www.ijtsrd.com/papers/ijtsrd25253.pdf