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In this research, we propose a method of mobile robot navigation system with a simple environmental data expression, graph-map. In general, autonomous mobile robot has to estimate its position. Usually it is necessary for a robot to correct cumulative error with landmark. For this purpose, it requires complex preparation before the robot being navigated. Our navigation system does not need special equipment and only requires easy environmental map. In this paper, we verified the effectiveness of the system by the experiment, using a robot.