A time optimal control method considering the velocity and acceleration limits for mobile robots motion is proposed. Firstly, the Hamiltonian function is constructed, and time optimal control is obtained on basis of the minimum principle. Secondly, the control method under the constraints is proved through phase analysis. Thirdly, the time optimization problem under the constraints is converted into the energy optimization problem with the computed minimum time. Finally, the results are verified on RoboCup small size soccer robots.