While the Android mobile platform is developing rapidly, a remote control system for small mobile robot based on Android is designed to solve the problem of the lack of flexibility of traditional robot control terminal. The system is composed of three parts: small mobile robot, wireless communication module and Android platform. The video transmission and data communication are realized through the LAN between the upper terminal and slave machine. The overall control architecture is given, and the realization of the system hardware and software is illustrated in two aspects. System tests show that the Android mobile terminal can control the state of the robot remotely, and successfully receive the realtime video returned from robot, which is displayed smoothly. The system has a good stability and reliability.