Wheeled mobile robot is a typical non-integral system. The non-integral constraints of the system make the dynamics modeling and trajectory tracing more difficult. In the study and development of a wheeled mobile robot prototype SDLG-C, aiming at the characteristics of the non-integral constraints, the dynamics model has been built with the Newton-Euler method by directly integrate the non-integral constraints into the dynamics equations. Consequently, the Obstacle avoidance effects of the high frequency disturbance on the performances of the control system have been eliminated. Based on the behavior–based robot control technology, the intelligent avoiding barriers control system design of an autonomous mobile robot is presented. And the implementation technology of this scheme is introduced; Simulations and experiments are processed to evaluate the proposed algorithm. Both of them have successfully verified the feasibility of the modeling and the effectiveness of the Obstacle avoidance strategy.