This work introduces a refined kinematic model for wheeled mobile robots (WMRs) to enhance low-level control by integrating PID control and protothreading. The model extends the traditional non-holonomic framework by incorporating geometric constraints that address orientation and odometric errors arising from differential wheel motion. Using decentralized control and protothreading, the system ensures consistent trajectory tracking, even when wheel RPMs vary due to factors such as uneven friction, mechanical issues, or wheel size discrepancies. Markers on each wheel monitor motion and adjust PWM signals, maintaining RPM consistency across wheels and mitigating challenges caused by uneven wheel motion. By integrating advanced control strategies and calibration techniques, the model significantly reduces orientation errors and improves accuracy compared to traditional odometry methods. This research not only improves the precision of WMRs but also lays the foundation for future work.