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This can't be done. You need some kind of sensor on your robot for determining the position of the robot. I also strongly recommend sensors for detecting obstacles.

If you do have a way of determining your location (odometry, gps, indoor radio beacons, etc), you could use that in conjunction with a static map to navigate. This approach makes two very dangerous assumptions:

• the map is perfect, and that nothing has moved since the map was made
• the robot knows its location very accurately