When the mobile robot sets the navigation point in the depth of the complex corner, the mobile robot can not plan the path because of the oscillation and rotation of the inaccurate positioning. This paper proposes a local planner based on TEB combined with lidar to collect corner information, and realize the rapid positioning and navigation of the mobile robot by setting auxiliary points. Through testing in the simulation platform Gazebo and the actual environment, the results show that the method can solve the positioning problem of complex corners, and realize the fast and effective path planning and accurate parking of mobile robots.