According to the problem of real time tracking and positioning of the mobile robot in the nonlinear system, the tracking and localization algorithm for mobile robot based on particle filter was researched. The particle filter algorithm is introduced in the control system, and on this basis the degradation factor is introduced, and the simulation validation was carried out at last. The results showed that the failure and single sample problem in nonlinear system of particle filtering algorithm could be avoided by this algorithm, and the non-Gaussin noise in mobile robot tracking and positioning system could be ameliorated, so that the positioning accuracy of mobile robot could be improved obviously.