After many failed attempts to get OPENRave to work on Windows, I finally decided to use RoboMind for the assignment. Motion commands in RoboMind is pretty elementary, making coding of complex scenarios very tedious.
Below is a video link on youtube showing the robot finding its way to its goal (a beacon), circumventing an obstacle. It traces the white line and when encounters an obstacle, "feels" around it till it reaches the remainder of the white line, from where it reaches the finish
However the algorithm is still work in process and needs few additions to it. It seems fail in cases where the obstacle touches the boundary wall as in an example map shown below.