Abstract: The main objective of path planning is to acquire a collision free path for a mobile robot operating in various environments. Diverse approaches and techniques have been implemented to solve a path planning problem by considering certain factors like obstacle shape, its orientation, type of environment etc. Based on the surrounding environment the robot navigates globally or locally. This paper focuses on the navigation of mobile robot operating in a static environment consisting of elliptical and polygonal obstacles. A mathematical formulation has been developed to obtain these paths and also to find the shortest path among them using Centre of Gravity Approach (CGA) and Coordinate Reference Frame (CRF) technique. The simulation results prove the proposed approach to be effective as the robot navigates to the defined target point without colliding with the obstacles in the environment.