In order to improve the motion control accuracy of mobile robots, this paper proposes an adaptive tracking control method for mobile robots, considering the uncertainty of tire radius and tire pitch. Firstly, a kinematic based system error model for adaptive controller design is derived, and the original control problem is transformed into the design of adaptive updating rate and virtual control input. Then, in order to do with the uncertainty of tire radius and tire pitch in the system, an adaptive method is used to estimate it online, and a virtual control input is designed. By combining the virtual control input with the adaptive estimation algorithm, the left and right wheel speed of the driving motor is obtained. At the same time, it is proved that the closed-loop system is asymptotic stable and the estimation error is bounded in the Lyapunov framework. Finally, the simulation and experimental results show that, the proposed method can estimate the true values of these parameters by online learning, which makes the actual trajectory converge to the reference trajectory, and shows that the proposed method can suppress the influence of the system parameters variation on the control performance.