Path mapping and finding the desired path for a mobile cleaning robot in order to perform cleaning efficiently is a difficult task. Moreover, in complex indoor environments, avoiding collision with other furniture or equipment is a big problem for mobile cleaning robot. In the case wireless control link should be robust for accurate moving along the desired path. But wireless radio frequency is experienced interference created by surrounding RF devices. In this paper we propose a cleaning robot control scheme using LED-ID network as a new paradigm in the in the mobile cleaning robot application. LED-ID system uses LED and visible light as a transmission source and transmission medium respectively. Therefore control the cleaning robot and illumination both are possible simultaneously. Also other radio frequency cannot interfere with the visible light. This system allows the user to teach the robot a user preferred cleaning path and provides long time cleaning stability. We also show simulation results to prove our algorithm.