The paper describes a control system for cargo two- and four-wheeled robots capable of moving indoors in an autonomous mode without the use of satellite navigation signals. The control system includes the creation of a binary network map with an array of probable waypoints, the calculation of the optimal path of the mobile robot from the start and end waypoints, and the path tracking controller. The control algorithm uses a single control parameter - the difference in torque between the right and left driving wheels of the differential drive. In this case, feedback is used with microwave sensors measuring the linear speeds of the wheels.