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The traditional robot gait control system has poor ability to grasp the route, resulting in poor control accuracy and long time for the robot gait control. To solve the above problems, a new robot gait control system is designed based on the CARLA-PSO combination model. The hardware part selects a hardware component system with high operating performance, accurately controls the position of the center point of the system, and strengthens the data research at this position. The data results obtained through the data monitoring module and the data control module are implemented using the target parameter control module. Data processing operations; using the collected hardware information as the basis for software operations, using the CARLA-PSO combination model to obtain local and global optimal solutions for robot gait control, and comprehensively using software control algorithms to integrate the acquired gait information, regulating path information, and combining Sensing angle information, cleaning irrelevant gait data, and completing the design of robot gait control system. The experimental results show that the robot gait control system based on the CARLA-PSO combination model can control the route more accurately. Compared with the traditional control system, the designed system control time is increased by 15.2%, which has a better control effect.