robot navigation system

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hi there

i building beverage delivery robot bring me drinks in door use. going quite well, there problem,
i have no idea how should navigation system. looked @ quite lot sytems. first wanted make move known map
but read wasn't precise , expensive. think want make move default route , go off route
if in front of robot , when passed object go it's route, , @ base station there a
ir beacon re-sync it's route. don't how should start, if me grateful.

what hardware have:
- dagu rover 5 2 encoders
- 2 ultrasonic distance sensors
- ir receiver
-  2 ldr

get uv-visible marker pen , draw line on floor preferred route.
swap ir leds on line-follower uv leds.
make sure visible light receivers filtered remove uv.


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