To obtain the optimal path in a unknown disaster field,a rescue robot needs to build an environment map. The information of the disaster field is collected by the sonsors of different robots, all signal from sensors (mounted on all robots and signal form GPS) are sent to the bakeside parllel processors with wireless network. A grid computing environment serves as the backside parallel processors with Globus Toolkit, the grid computing processor process all the signals and construct the global map to help robot for navigation path planning.The rescue robot get control signal from the grid computing processor with wireless network,thus, the robot is not necessary to be sophisticated. New computing methods are given for parallel algorithm on grid environment. The navigation control is implemented with the cooperation among heterogeneous agents, the advantages of large seale computing on grid are shown.