An autonomous navigation system was proposed based on Soft Actor-Critic under the security barrier mechanism to improve the intelligence and security of mobile robot autonomous navigation system.The return function was designed based on distance between the robot and the nearest obstacle,the distance from the target point,and the yaw angle.On the Gazebo simulation platform,a mobile robot with lidar and its surrounding environment were built.Experiments showed that the security barrier mechanism reduced the probability of collision with obstacles to a certain extent,improved the success rate of navigation,and made the SAC-based mobile robot autonomous navigation system have high generalization ability.The system still had the ability of autonomous navigation when changing the origin and destination or even changing the environment from static to dynamic.