Path control method of security patrol robot

The invention discloses a path control method of a security patrol robot. The path control method comprises the following steps: constructing a patrol path control file; after reading the patrol pathcontrol file, starting patrol; determining the current position through a navigation positioning module by the security patrol robot; judging whether the current position is the end point of the patrol path, if so, returning to continue patrol along the original path of the patrol path until the patrol work is finished; otherwise, judging whether a deviation exists between the current position andthe patrol path or whether an obstacle exists, if so, solving a steering angle of returning to the patrol path or avoiding the obstacle according to the deviation or the orientation of the obstacle,controlling the robot to steer and advance according to the steering angle by a motion control module of the security patrol robot, and then returning to continue position judgment. According to the path control method, trackle