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In order to solve the problems of large dynamic positioning deviation and optimal path optimization defect of intelligent logistics robot, an intelligent logistics robot control system based on Euclidean segmentation denoising and trilateral positioning theory was proposed. The control system adopts ARM embedded motherboard as the control core, integrating high-speed data processing unit and real-time operating system. The denoising of the lidar scanning position is carried out by Euclidean segmentation, and the accuracy of dynamic positioning is ensured by position fitting combined. When the path selection and obstacle avoidance planning are carried out, the ARM embedded motherboard is combined to ensure the superiority of path selection and the efficiency and timeliness of obstacle avoidance planning. In order to verify the performance of the research control system, a comparative experiment was conducted in the actual logistics warehouse environment. The experimental results show that the response time of the system is 20% faster than that of the existing system on average when carrying out trajectory planning and obstacle avoidance tasks, and the path deviation is reduced by 30% in the long-term operation test, that is, the research system has obvious advantages in accuracy and real-time.