Path tracking method of industrial mobile robot

The invention discloses a path tracking method for an industrial mobile robot, and the method comprises the following steps: (a) obtaining the surrounding environment information of the industrial mobile robot through a sensor carried by the industrial mobile robot, and obtaining a preset global path; (b) reading position information of the industrial mobile robot on a global map, estimating the position of the industrial mobile robot on a global path, and obtaining a local target point set; (c) calculating the angular deviation between the yaw angle of the current position and the local target point set, and averaging the angular deviation; (d) tracking a preset path by using a pure tracking model; and (e) circularly judging the pose of the industrial robot reaching the local target point Gultimate, calculating the difference between the yaw angle of the industrial robot at the current moment and the yaw angle of the target point, and then rotating the industrial robot to any set yaw angle by modifying the a