The invention discloses a trajectory tracking control method for a patrol robot. To be specific, the method comprises: establishing a kinematic model of front wheel-turning-to-rear wheel driving of arobot under the condition of non-overlapping of the center of a wheel axle and a reference position of the robot; according to the kinematic model of front wheel-turning-to-rear wheel driving of the robot, establishing an in-situ turning model of the robot; and determining a trajectory tracking control rate and completing trajectory tracking control of the patrol robot. The method has advantages of high control precision and high robustness.