With the rapid development of drones and unmanned vehicles, drones are limited in their endurance, unmanned vehicles are limited in motion, and it is difficult to move in complex scenes. In this paper, the air-ground amphibious robots are used to make up for these shortcomings. The air-ground amphibious robots are mainly capable of switching modes of air flight and ground movement to solve the problem of difficult movement of UAV and unmanned vehicles in complex environments. If the combination of drones and unmanned vehicles is realized purely, it cannot reflect the integration of system control, and cannot reduce the cost or increase the efficiency. In this paper, the STM32F405 high-rate chip is used as the control system drive master, and the control algorithm is integrated into the integration, after fusion the same sensor data to control the motor drive in air flight and ground movement. The control algorithm uses cascade PID and optimal curvature method to enhance the robustness of robot movement. The research results show that the robot has good control effect and strong stability whether in the air or on the ground.