path planing for mobile robot

Hello. my project is robocup msl. If I have to explain briefly, we are in the beginning phase of the project. So far, I have managed to match the raspberry pi and roboclaw motor drivers in the project. The mobile robot has 3 motors and 2 roboclaw driver cards. I can control all motors separately with raspberyy pi. The robot will go the distance I want at the speed I want. I just want it to path planning that needs to be done for it. you have to use jacobian matrix. I should especially mention that the robot has 3 wheels.