In this paper is presented a framework for off-line co-located mobile robot path planning using augmented reality technology. The system allows the user to control a virtual model of a robot co-located in the real environment, generates robot trajectories and simulates robot actions before the real robot performs the task. In the experiments conducted within this research a good synchronization was achieved between the path followed by the real and the virtual robot. This approach proves to be a powerful tool that offers advantages to the classical methods.