Abstract: Steering places an important role in control of nonholonomic wheeled mobile robots (WMRs). In this paper, we use artificial fields to steer and control the steering angle and derive a linear velocity control law to guarantee the optimal convergent trajectory. The proposed approach can be used to realize arbitrary point-to-point stabilization, trajectory tracking and path following. Easy design, fast convergence, and adaptability to other nonholonomic mobile bases are also its obvious advantages compared to some existing methods.