This paper indroduce structure and control system of a vehicle based on omi-wheel. firstly, the vehicle structure is presented, which platform is composed of four omni-wheels at 45 degrees angle configuration. secondly, the connection mode of electrical motors and omni-wheels in discussed. thirdly, this article decribes the control system of the vehicle, and calculates the rotating speed of the motor, A kind of MCU is used as control core, and three-dimensional experimental prototype shows that this vehicle is easy to be controlled and also moves flexible. therefore the design of the inteligent vehicle is feasible.