Abstract: This paper deals with kinematic modeling of a car-like planar mobile robot consisting of four conventional fixed wheels attached on two parallel axles. The kinematic model of such a mobile robot requires the description of skidding and sliding frictional motion. Previous kinematic model proposed by Muir and Newman[l] does not include such frictional motions. Thus, does it res비t in least square solution in estimating a sensed forward velocity solution. A modified kinematic model is proposed by incorporating translational friction motion into the original algorithm. It is shown that translational friction motions should be included into kinematic model of the mobile robot to represent its real physical motion.