To solve the problems that the PV array cleaning robot is easy to be affected by the frame between modules and the smooth surface of modules, the path tracking control of the PV array cleaning robot based on the improved navigation round algorithm is proposed for avoiding the offset from the original track. Firstly, the kinematics model and ultra-wide band positioning system of PV array cleaning robot are given in this study. Through the simulation of the original algorithm, the long adjustment distance of the robot is found and analyzed. Then an improved navigation round path tracking algorithm is proposed, which revises the correction angle of the original algorithm and readjust the correction angle until the robot returns to the target path. The experimental results show that, compared with the original algorithm, the adjusted distance is reduced by more than 50%, thus the new algorithm improves the adjustment efficiency.