The invention discloses an insert AGV (Automatic Guided Vehicle) navigation vehicle, which comprises a vehicle body welding structure, a shell, an alarming anti-collision protection device, a lifting positioning locking device, a driving unit, a control unit, a navigation positioning device, universal driven wheels and directional wheels, wherein the vehicle body welding structure fixes each unit and each device of the AGV; the alarming anti-collision protection device comprises an obstacle recognition sensor, an anti-collision adhesive strip, an acoustic-optic sensor, a display screen, an emergency stop switch and a front cover; the lifting positioning locking device comprises a lifting rod, a lifting motor, a lifting rod sleeve, a spring limiting plate, a pin shaft baffle and a fixing sheet metal; a ground wheel driving device is provided with a left wheel and a right wheel which are symmetrical in the middle of the vehicle body, and a differential speed driving mode is adopted; and the control unit uses a control system based on an ARM dual processor and comprises a control plate, a motor driver, a driver fixing plate, an ARM processor, a battery, and a battery bearing seat. The invention also provides an insert AGV navigation vehicle control method. the navigation positioning precision is improved, and the product cost and the use cost are reduced.