This paper proposes a kinematic model of the vehicle with low-ground pressure tire that enables to enter a minefield in order to scan remaining landmines by a ground penetrating radar in level III survey. The low-ground-pressure tire makes low pressure contact with a ground by deforming its shape of the tire, but the deformation deteriorates position and steering control accuracy. Therefore this paper models the kinematics of the low-ground pressure vehicle based on experimental results. Besides we experimentally confirmed that the vehicle could precisely trace the target trajectory by considering its kinematics in simulated minefield.