Abstract: One of the key technology for outdoor mobile robot is the optimal control of the high speed wheeled mobile robot, This article deals with the evaluating functions and methods of their solutions in detail, started by analyzing dynamics models of vehicle and typical modes of roads. Deep study is carried out on computers to survey the way in completing real time control table indexing and keyword defining. We have also given a method called' next behing best' sine-function control procedure. Experiments show that the method is of values in application.