Mobile robotics became an important knowledge area. Led by the technological advances, the life spectancy increases, rising the senior citizens ratio. At the same hand, the cities growth turn on a more intense and dangerous traffic. Autonomous mobile robots can help in these situations, but still have a jeopardized application. In this sense, this work presents a contribution to development of nonholonomic robots, being introduced its kinematic and dynamic equations. Helped by a trajectory simulation, simulations were performed and, having positive results the prototype was applied in a real environment to validate the search.