Based on the discussion of features and applications of mobile robots, a survey of their researches was made from the viewpoint of the technologies of their control framework and autonomy. Then control modes and popular systems of mobile robots were discussed and the relative advantages and disadvantages were summarized. The characteristics of the control frameworks of mobile robots were concluded and a few of existing control frameworks were analyzed. According to the development of sensor networks, the combination and cooperation of mobile robots and sensor networks was predicted and the challenges that control frameworks of mobile robots must face to work with sensor networks were pointed out, and a new and reasonable one was put forward at the end.