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In order to improve the ability of environment perception and obstacle avoidance of intelligent robot, and reduce the probability of collision with obstacles during the operation of intelligent robot, an intelligent robot control system based on CPLD control module is designed. With CPLD controller as the core, adjust the connection form of A/D analog acquisition interface module signal, and set the connection parameters related to PWM registers; The decision-making flow of the host intelligent program is given, and the rectification parameters of PWM registers are adjusted timely to improve the matching accuracy of the control instruction execution vector, so as to achieve the accurate control of the intelligent robot"s motion trajectory. Compared with the traditional robot control system, the intelligent robot based on CPLD control module can more accurately perceive the changes of the external environment and accurately avoid obstacles.