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@Denso I'll need more details like are you using a world model with obstacles and are you trying to make the robot move from one point to another point (random points in the world). How are you doing the localization for the robot? Are you planning to use kalman filter for localization or are you using paricle filter?
I think that ROS/GazeboSim is the best alternative to accomplish tasks like this. Did you have a look at that? You may want to take a look at Gazebo tutorials. You will need to learn how to use path planning (deliberative navigation) and reactive navigation. There are some stacks in ROS that will facilitate your job. Take a look at motion planning (OMPL stack) and navigation stack Motion planners and Stack navigation.
If you know tha map of the environment already then you can use a motion planning algorithm to compute the path between the two points.
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