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The traditional robot control system is designed based on the auxiliary control of the robot steering, which has the problem of poor steering control effect. In order to realize the research and development of four-wheel intelligent robot control system, based on Mindstorms platform, the main control module, sensor module, wireless communication module, motion module and power module are built. A four-wheel intelligent robot structure composed of blocks. In the motion control module, TMC236 chip is selected as the motor driver chip, which provides the control voltage for the switch tube on the bridge arm through the circuit. In the bottom control module, PID controller is used to control the difference between the expected angle and the actual angle of the motor to realize the control of the turning angle of the robot. In the research and development of software control strategy, the embedded operation software system is used to realize lane maintenance control and obstacle avoidance control functions, and realize the function of autonomous lane change for robots. The results show that the control effect of Mindstorms-based system is always above 98%, and the precise control of robot steering is realized.