This paper addresses the tracking requirements for wheeled robots on non-uniformly discrete point paths, aiming to enhance the real-time performance, accuracy and robustness on resource-constrained platforms. A scatter path tracking controller based on the Lyapunov method is proposed. By constructing a new Lyapunov function and introducing a forward strategy, the tracking control is achieved. MATLAB simulations and comparison with two benchmark literatures show that the angle error and lateral error of the controller in this paper are respectively reduced by 71.29% and 53.23% compared with Literature 1, and by 87.74% and 66.72% compared with Literature 2, with an improved convergence speed. The soft and hard hardware co-implementation and testing were completed on the STM32 platform. The average distance error was controlled within 0.4m at 2 m/s, and stable tracking was maintained in dynamic obstacle scenarios. The results indicate that this method can achieve high-precision and robust real-time tracking on discrete non-uniform paths, and has engineering applicability..