Differential mobile robot is susceptible to slippage due to unstable ground during the steering process.In order to reduce the influence of slip and improve the steering control precision of the robot

a closed-loop control method of the robot is proposed.Slip model is established according to the steering characteristics of the mobile robot

and the formula for calculating the instantaneous steering and slip rate of the differential steering is derived.Instantaneous measurement model is built on the inertial measurement unit（ IMU） of the robot

and the experimental results are based on the turntable.Verify the validity of the model.Combine the two models to realize the instantaneous closed-loop control of the robot differential motion command

and use the Turtlebot as the test platform for the trajectory optimization experiment.The experimental results show that the robot trajectory error using the closed-loop control is smaller and the control is more accurate.