This paper presents a generic model for a mobile robot with n wheels and active suspension. The model is presented in the fashion of an Embedded Model (EM) in order to apply the control framework known as Embedded Model Control (EMC). EMC is a model based control technique which allows the proper active real-time estimation and rejection of system disturbances. This research constitutes the initial steps for the application of the EMC framework and its future implementation on mobile robotics related problems. A guidance strategy with elliptical trajectories is developed, which guaranties position and attitude constraints. Some simulations are presented at the end showing the capabilities of the model and guidance algorithm built and presented.