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Taking the bed and chair integrated robot as the research object, by designing the corresponding motion controller and combining with the integrated navigation positioning measurement and control system, the point stabilization control in the indoor environment is realized. Firstly, a four-wheel steering and four-wheel driving driven omnidirectional wheelchair-bed robot prototype is designed and implemented, and its kinematics is analyzed. Secondly, through discontinuous coordinate transformation, the control errors between the current and target poses are expressed in polar coordinates, and the appropriate pose error variables are used to describe the system model, and a global feedback controller based on position closed loop is designed; Then, according to the needs of the controller, an IMU / UWB integrated navigation and positioning system based on Kalman filter is designed and built to realize global real-time precise positioning of wheelchair-bed robot; Finally, the stability analysis of the control law in the designed controller is performed using the Lyapunov function method. Both MATLAB simulation experiments and field experiments show that the designed point stabilization method has good control effect.