The method of mathematical model construction for mobile vehicle has been created in this paper. The dynamic model of Mobile Robot KDM-1 as the special case has been deduced in detail, and the authors try to use the dynamical mechanics of nonholonomic systems as the analytical instruments. The data of the model are obtained by experiment and checked by real vehicle driving，and several parameters are inspected by simulation testing. It is revealed that the satisfactory result of simulation with dynamic model consists with that of driving experiments of vehicle inside the room. The paper has presented a useful way for other vehicle carrying mobile robot to build up he mathematical model.