Well it's not too straight forward, it really depends on what you want to do, there are many ways.
If your characters or whatever will be able to walk everywhere, and only avoid obstacles, the use of TileMap is not necessary.
If, on the other hand, you need to have walls and bits of the "world" where the character can't walk then TileMap might be of help.
A TileMap is simply a way of displaying a large number of identical sprites, to create a big world without destroying performance.
So, it's used to display stuff on screen and not directly linked to collision checks or path finding, but you could adapt it to do so with some extra work.
You will need to look more in-depth into what a tilemap is exactly and how it works (google), and take a good look at the cocos2d examples.
Also, you would need to implement some sort of collision check, either with the integrated chipmunk or write a simplified version yourself.
Read about the A* algorithm to get a grasp on what the problems and possible solutions are.
Any other questions, here to help :)
cheers
Patrick