This paper presents a floor cleaning robot equipped with Swedish wheels. It can be used in crowded places such as houses, train station, airport etc. the robot can perform its work in autonomous and teleoperated mode. Moreover the robot can pivot around without turning, can avoid obstacles and is provided with automatic power management ability. And meanwhile, the kinematics for its control and controlling methods are studied and demonstrated. This new structure, smooth locomotion capability and high working efficiency are verified by experimentation.