Thesis (Masters by research(Mechanical and Manufacturing Engineering))--University of South Australia, 2021. Includes bibliographical references (pages 86-103) A novel local path planning method is proposed in this thesis, where the proposed algorithm is capable to generate a safe, fast, and more goal-oriented collision-avoidance trajectory in different test scenarios. The experimental results show that the proposed algorithm outperforms the traditional DWA while generating a collision-free path. In addition to this, a hybrid trajectory tracking algorithm is developed in this thesis to reduce the lateral errors between tracking and reference paths. The performance of the proposed method shows a significant reduction of tracking errors compared to the other controllers. Eventually, this thesis reveals a sophisticated design of path planning and trajectory tracking techniques which could be a turning point for the revolution of the Australian and global robot industry by offering cheap autonomous solutions.