Abstract: A representative method of the global path of a similar position and posture is presented.The constructive plane figure is based on a network of triangle free space.And then path solving tree is constructed.Finally,all possible passing path is found with searching method.Their simulation results are given.Also,a path controller based on knowledge-base and its experimental results,are presented.Basic theory of the path controller is that the action of mobile robot is determined by described path of the permissiveposition and posture set given from the path planner matching with rule of knowledge-base.