Robotic Neuronavigation's (hereinafter RONNA) aim is to explore and develop an innovative and competitive robotic system for neurosurgical applications. The robots in use are heavy and therefore not ideally suited for precise navigation. The main goal of this thesis is to establish a framework that will enable the continuation of RONNA mobility research. Within this thesis, a platform for autonomous navigation of a mobile robot with a dierential drive was developed and implemented. The implementation of algorithms for localization and for global and local path planning was performed using the Robot Operating System (ROS). As a part of this thesis, the verication of two dierent algorithms for local path planning was made and analyzed. DWA (Dynamic Window Approach) and TEB (Timed Elastic Band) algorithms performance was evaluated through a number of dierent configurations within the layout of the Regional Centre of Excellence for Robotics at the University of Zagreb. In addition to these evaluations, two external programs have also been developed that collect and compare acceleration data. Path planning algorithms had to meet the criteria of safety, reactivity and trajectory optimality. In this empiric test, the TEB algorithm was evaluated as the best t for the needs of this specic robotic system for neurosurgical applications and for the existing hardware.