A mobile robot and a driving method therefor are provided. The mobile robot comprises a controller (101), a main drive wheel (102), and an auxiliary drive wheel (103). The method comprises detecting whether a state of motion of the mobile robot has reached a preset control condition, and if so, driving the auxiliary drive wheel (103) to rotate at a second rotational speed, wherein the second rotational speed is greater than or equal to a first rotational speed of the main drive wheel (102).