| The research of urban mobile robot is a important embranchment in the field of robot research and have wide application foreground, such as automotive vehicle on speedway, fire-fighting robot in dangerous environment, concurrent football robots and so on. We can see the research is outspreading in depth by degrees.With the increasing complexity of the system and quantity of operation, the need of power for equipment is raising day by day. But most of portable flexible robots are difficult to take many facilities. So, divide the computer from robot. The robot compounds vision signal and sensor signal observed by itself, and transmits them to the computer far away. The powerful computer, then, analyses and deals with them, sends out signal to gearing of the robot to control its action in succession. Or the robot just does some low-end work such as avoiding blocks, and other work will be done by the powerful machine in the distance or manual work in virtual environment via remote control: to apply the technique of virtual reality to the research of navigation of mobile robots is a feasible method.Considering a half-freedom mobile robot, the paper had done some conceptual analysis and design, then emphasized on some essential functions, including velocity control, path plan, target tracking etc. Studied the algorithms respectively, such as PID algorithms, iterative algorithms, fuzzy logic algorithms, and so on, and used MATLAB to simulate and compared with each other.The paper established the model of the robot and correlative virtual scene by VRML (virtual reality modeling language) and actualized simple motivation and ability to interact with user; finally, connected the robot's simulink model with its three-dimensional model by VR toolbox integrated in MATLAB, which enabled the process of simulation to demonstrate in a intuitional way. Thus, we can control and manipulate a robot's movement in the virtual world with the signals came from its simulink model.
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