This paper presents the development of autonomous mobile robotics system for road marks painting in smart cities. The current road marks painting is manually applied on the road worldwide, and the quality of construction depends mostly on the experience of operators. To address such an issue, this study focusses on developing an autonomous mobile robotics system for road marks painting that can replace or assist traditional manual painting for new or renovated roads. This study uses the turtlebot3 wheeled mobile robot platform along with laser in Robot Operating System (ROS) software platform. The path planning of the autonomous mobile robot is accomplished using a combination of A* algorithm for global planning and the Dynamic Window Approach (DWA) algorithm for local planning. A simulation study on the road environment is developed using the ROS platform to test and verify the feasibility of the proposed robotic road marks painting system. The simulation is performed through applying the road marks painting on three types of road conditions, namely, straight, turning, and roundabout roads. The path planning using A* algorithm and DWA algorithms has been successfully validated in a simulated environment, demonstrating its feasibility and potential. Results show that the robot was able to apply road marks on the middle of the roads in both straight, turning, and roundabout roads.