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Sensor uncertainty is a key issue in mobile robot positioning. The paper analyzes the kinematics of the Pineer3-AT sliding-steering robot during cornering and finds that the sliding amount is affected by the friction coefficient of the ground and the wheels and the speed of the left and right wheels. The magnitude of the sliding amount affects the odometer"s uncertainty. Adams and Matlab/Simulink co-simulation experiments have obtained multiple sets of data for different sliding speeds at different ground speeds. Fitting the results, a sliding quantity model has been established and verified by experiments. Based on the analysis of the results, it can be concluded that the larger the friction coefficient, the smaller the sliding amount at the same speed. According to this characteristic, the sliding amount of the trolley at different wheel speeds is extracted as the raw data of the ground classification. The k-nearest neighbor (KNN) method was used to classify the ground and the recognition rate reached over 70%.