Currently, the path planning problem is one of the most researched topics in autonomous robotics. That is why finding a safe path in a cluttered environment for a mobile robot is an important requirement for the success of any such mobile robot project. In this work, a developed algorithm based on free segments and a turning point strategy for solving the problem of robot path planning in a static environment is presented. The aim of the turning point approach is to search a safe path for the mobile robot, to make the robot moving from a starting position to a destination position without hitting obstacles. This proposed algorithm handles two different objectives which are the path safety and the path length. In addition, a robust control law which is called sliding mode control is proposed to control the stabilization of an autonomous mobile robot to track a desired trajectory. Finally, simulation results show that the developed approach is a good alternative to obtain the adequate path and demonstrate the efficiency of the proposed control law for robust tracking of the mobile robot.