A new approach of the path planning method wiDl be introduced in this paper. The whole process is built up on the special B-spline construction method. It is given a work space (WS) with the obstacles and markers. The exact position of the obstacles and markers are already known. Furthermore is given the user defined Maximal Localization Error (MLE), and the system-error of the sensory system, which is perform the mobile robot's positioning. From the error of sensory system, and from the error function, we get the localization error (LE) of the point represented mobile robot in each xvy position of the work space. The intersections of the MLE and LE projected into the 2D WS, giving the navigation area (NA). For the navigation area is valid: Vx, y E NA: LE <MLE. The task is to construct a B-spline in such a way that, each point of B-spline curve (mobile robot's final path) have to be inside, and as far as it is possible, keep centered ofNA.