The control system of mobile robot (functioning in buildings and structures), based on the methods of trajectories construction using a depth gauge sensor Kinect. The general approach of the work is based on the sequential execution of three phases: obstacle detection, mapping and construction barriers trajectories. Recognition guidelines robot is implemented using an SURF algorithm and FLANN library. Their combined use provides effective recognition obstacle in the near zone of the mobile robot to the required accuracy in real time. Mapping obstacles (concave shells) and the estimate of the distance to the border barriers is based on getting the so-called acceptable points. For this purpose, using the algorithm implemented Point-cloud detection of different types of obstacles in the close range of the robot. Synthesized a modified 3D-pointcloud algorithm which provides a solution to the problem of the robot move without colliding with obstacles. These algorithms can be applied to any stereo cameras and rangefinders that return colored frames and image depth, as described algorithms use data on the distance of objects from the sensor and are resistant to the visible spectrum of light (can operate in total darkness, without requiring a backlight). Built three-level robot control system in buildings and structures on the basis of a modified algorithm of 3D-pointcloud. The results of experiments confirming the effectiveness of the above approach.