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Aiming at the tunnel construction environment, a tunnel safety warning robot is designed, and focusing on the realization of its navigation system. The robot is equipped with some detection instruments and an analysis PC to achieve data collection,analysis,and early warning automatically and Intelligently in tunnel inspection.The robot uses the Cartographer algorithm and the adaptive Monte Carlo algorithm (AMCL) to fuse the data of radar, odometer, and IMU and to realize the creation of environmental maps and real-time positioning of the robot. The A* algorithm and the DWA algorithm are used to realize the robot"s global and local path planning, and the ROS operating system is used for experimental verification. The experimental results show that the position error and heading error of the robot are less than 20 cm and 5.5° respectively during navigation and positioning, which can meet actual engineering needs and complete automatic inspection tasks.