This paper presents an “Autonomous Navigation” Action plan for a 2 wheeled, single axis rotary mobile robot with controlled (or constant) velocity approach. Through this analysis we will step-by-step understand how we can navigate a mobile robot from a ‘start point’ to a ‘goal point’ with “obstacle avoiding” utility and constant velocity provision (using different controllers). This paper also presents the comparison of different types of controllers used to control the velocity and different algorithms to plan as well as track the path.