This study integrates the indoor localization, path planning and control to achieve indoor navigation system for the wheeled mobile robot. The sensors used in this system include binocular camera, laser rangefinder (LRF) and inertial measurement unit (IMU). The robot localization is mainly based on the LRF with IMU sensors. The initialization of the robot is assisted by binocular visual localization. The Voronoi diagram and Dijkstra's algorithms plans shortest path. Following the path, the control system can achieve real-time indoor navigation. Finally, the experimental results demonstrate Real-time Path Planning and Control for the Mobile Robot is achieved.