This thesis report presents an approach to create autonomy for a mobile robot and then focuses on the planning module of the autonomous mobile robot. Dipartimento di Scienze Agrarie, Forestali e Alimentari, DISAFA, of Universita` di Torino has developed a 4WS mobile robot and I was honored to work in a team under the supervision of Dr. Fabrizio Dabbene and Dr. Martina Mammarella of Consiglio Nazionale delle Ricerche, CNR, and Prof. Davide Ricauda Amionino of DISAFA to complete my thesis on developing an automated driving module for the robot. This study, at first, aimed to understand the needed modules to create autonomy for a mobile robot which we discussed in chapter 1.