Path planning and trajectory tracking are important topics to be considered when it comes to mobile robotics. In many situations, it is desired that a mobile robot execute a path in order to reach a goal previously determined, or continuously follow a trajectory to patrol a region (usually used in surveillance missions). One can describe both path planning and trajectory tracking as a single problem in two different phases: the first phase involving the path determination and description, and the second phase in which the robot will effectively follow the previously planned path – basically, trajectory tracking – considering its kinematics properties.