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Due to the restricted mobility, the trajectory tracking of wheeled mobile robot, has been a research focus in the field of control. The Pioneer3-AT is highly versatile differential-drive robotic platform for academic researchers,which has the most famous advantages of good versatility and reliability.To solve the path tracking problem of the indoor mobile robot which can perform particular tasks, the mathematical model of the mobile robot is established. based on Pioneer3—AT. Sliding mode variable structure control for the uncertainty, external disturbance and parameter perturbation of the controlled system has completely robustness, and a new sliding mode reaching law with special exponential function is constructed. The reaching law is adopted to design the sliding mode control law, and put forward a new method of sliding mode control is proposed, and the method stability.is proved by using lyapunov theorem.The simulation results of the indoor mobile robot path tracking experiment on the sliding mode controller demonstrate the effectiveness of the proposed method.