In this paper, we propose an autonomous navigation method for tracked vehicles based on a contact force model, which enables navigation in narrow space though it collides surrounding environment. The model counts on the contact force, driving force and friction force with the floor on the vehicle body. Using the model, controllable range is derived in velocity space. Experimental results shows that the robot can move in target direction with motion control based on the model if it collides with the wall, despite the navigation often fails using conventional path following in same conditions.