The invention discloses a ground crawler-type unmanned vehicle control method based on an arm myoelectric signal, which overcomes the problems of lack of flexibility, equipment complexity and vulnerable to external environmental interferences existing in the prior art. The method comprises the following steps: step 1), correctly wearing an electromyography sensor and performing initialization setting: (1), enabling a user to wear the electromyography sensor in the middle position of the hand and the elbow, so that an electrode is tightly attached to the skin, thus a reference electrode can beattached to the ulnar flexor of wrist, thereby ensuring that the myoelectric signal can be collected; (2), performing an initialization operation, and firstly, initializing the electromyography sensorand a crawler-type unmanned vehicle, thereby testing whether the reliable wireless communication connection is established or not through a signal processing device and the crawler-type unmanned vehicle in a certain area; step 2), collecting the myoelectric signal and identifying different gestures and transmitting the gestures to the crawler-type unmanned vehicle; step 3), parsing a command by the crawler-type unmanned vehicle and executing an action of the command; and step 4), wirelessly transmitting contents shot by a video camera, transmitting the contents back to the signal processing device, and displaying the contents in a computer.