localization robot

i need a navigation and localization ( means robot know where is it located in the predefined map ) indoor robot that move from point to other destination point by using or following the shortest path and avoid obstacles that were defined on the static map in addition to avoid any new obstacle that not was mention in the static map does these have any type of data structure ?because this is what the professors needs? my tools are : -5ct 9V 9 Volt Battery Clip Connector Snap On Jack Plug Holder Wire Lead Cord USd 2-9 Volt (9V) Duracell CopperTop - 4 Brand New Alkaline Batteries MN1604 3-5pcs Ultrasonic Module HC-SR04 Distance Measuring Transducer Sensor for Arduino 4-L298-Based Stepper/DC Motor Driver Board; Arduino L298N Controller Module USA 5-New SunFounder Starter basic Kit for Arduino Beginner Uno R3 2560 Nano Leonardo 6-Motor Smart Robot 2WD Car Chassis Kit Speed Encoder Battery Box For Arduino