Mobile robots have played an important role in our modern life. Most of them use non-holonomic systems that only can be steered when they are moving. Hence, It is not possible to do instant movement on non-holonomic robot. This constraint has led to make the holonomic mobile robot attracting attention. Since their maneuverability enable them to do instant movement that can be useful to do several hard tasks. In this paper, We propose a path planning algorithm using arrival time field for holonomic mobile robot. The arrival time field is used to generate the field that can be extracted into optimum path. We used gradient descent method to find the shortest path alongside the arrival time field. The path will be considered as reference values for the mobile robot to move toward its goal.