Abstract: The four-wheeled mobile robot driving by rear-wheel has some characteristics such as nonholonomic constraint，complex model.A compound intelligent trajectory tracking method based on multi-preview points is proposed.By imitating the preview driving behavior of human，the fuzzy controller adjusts the velocity，the number of preview points and the preview distance online according to the different road condition.The immune controller regulates parameters of the PID controller online.Evaluating indicator of trajectory departure are presented considering the control stability.The simulation results show the effectiveness of the controller.