The invention discloses a positioning and parking control method for a three-wheeled railless AGV (automatic guided vehicle). The method is characterized by comprising the following steps: firstly, turning the AGV for an angle alpha 1 so that an AGV body reaches the center position of normal errors and half of the normal position error delta d is eliminated; then turning the AGV for an angle aloha 2 in the reverse direction so that the AGV runs to a second position Pe same as a preset parking azimuth angle, other half of the normal position error delta d is eliminated, and the residual is tangential position error delta t; and finally determining the position relation between a preset parking position P' and the second position Pe so that the AGV runs forwards or backwards so as to eliminate the tangential position error delta t and reach the preset parking position P'. According to the invention, the control accuracy of the three-wheeled railless AGV can be better ensured and the purpose of rapidly reaching a target position can be realized.