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In order to achieve autonomous navigation for brain-controlled wheelchairs under indoor environment, a simple and effective path tracking control method is presented. The given path is usually expressed as a series of discrete points, according to this, a piecewise straight path tracking method is proposed, i.e., track the straight path constituted by two adjacent path points successively to reach the target point. Based on the preview point technology, as well as the combination of fuzzy algorithm and traditional PID control method, the controller is designed to complete the tracking of each piecewise linear path, in addition, an efficient switching condition is given. Finally, experiments are run to testify the proposed path tracking control method and experimental results show that the method can preserve the wheelchair on its desired path precisely under indoor environment even though the disturbance level is of high value.