Abstract: In order to solve the map-based large-scale space navigation problem of mobile robots,a navigation system is proposed which consists of three modules,including map editor,map matching and self-localization,and hierarchical planning. The map editor module takes charge of editing the navigation map,the map matching and self-localization module uses data from the odometer and laser scanner to realize robot self-localization based on matching between local and global maps,and the hierarchical planning module efficiently integrates such functions as global topological map-based planning,local grid map-based planning,and low-level behavior control.Experiments of indoor self-localization and navigation in a large-scale space are made to evaluate the validity and accuracy of the proposed system.