The ultimate goal of my research is to develop a navigation system that can operate stably for a long time in outdoor environment. Unlike indoor environments, outdoor environments change with season, time, and climate. Robust sensor and system design for stable navigation. As an approach towards this goal, we decided to use 3D LiDAR, which is less sensitive to the operating environment, to create a 3D global map and 2D cost map. We use both maps with the local map to navigate, and verify the system in long term navigation experiment.