This work is written with the aim of solving some of the problems of advanced logistics robots, namely omnidirectional transport vehicles. Although the invention of the special wheels that move them dates back to the seventies, advances in mechatronics, and control technology keep them constantly on the drawing table of engineers working with mobile robots. This family of vehicles has serious advantages in mobility compared to traditional, wheeled propulsion systems, however their more complicated design and control, and the lower quantity of scientific background research and general...