The invention belongs to the field of AGV control methods, in particular to an AGV path tracking method. The method comprises the following steps that 1, a path map is established in an AGV navigation device, wherein the path map comprises multiple path points and a basic path curve obtained by fitting the patch points; 2, a driving module of an AGV drives the AGV to advance along the basic path curve; 3, a correction module in the AGV extracts the current path point and the next path point and fits a real-time path curve according to the current path point and the next path point; 4, a positioning module of the AGV determines the position of the AGV, determines a navigation position according to the current position and establishes a tracking circle with the radius being R by taking the navigation point as the circle center, in the tracking circle, an arc within the range of being + / - D in the advancing direction of the AGV is an effective arc, and the intersection point of the effective arc and the real-time path curve is considered as an advancing target point; 5, the correction module of the AGV guides the AGV to run toward the advancing target point. According to the path tracking method, the AGV traveling path directly faces the advancing target point, and the running path is short.