Large oil storage tanks are indispensable equipment in oil depots to store crude oil and other petroleum products. However, the bottom of the tank is susceptible to the corrosive effects of stored chemicals, which can lead to a risk of leakage. Therefore, regular inspection of the bottom of the tank is a crucial safety measure. Traditional inspection methods require emptying the tank and sending inspectors inside, which is expensive and time-consuming. In order to overcome these problems, the tank floor inspection robot equipped with LiDAR can perform autonomous obstacle avoidance, full-coverage path planning, and path tracking, so as to realize the function of detection without emptying the storage tank. There are multiple groups of floating roof support rods and several sacrificial anode blocks at the bottom of the outer floating roof storage tank, and the internal environment is complex. The robot operates autonomously inside, detecting all places in the tank, and at the same time, the robot must perform autonomous obstacle avoidance in real time to avoid sacrificial anode blocks to avoid collisions. If the detection robot does not have the corresponding obstacle avoidance ability, if there is an obstacle in front of it, it will be stuck and immovable, which will affect the detection function of the robot. The path planning and path tracking algorithm based on the ROS system designed this time can enable the tank floor robot to operate autonomously, which greatly improves the detection efficiency and reduces the detection complexity.