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In order to improve the flexibility and mobility of the robots, enabling them to walk along a straight line to any location and change the attitude at the same time, more driving omnidirectional wheels needed to be fixed on the chassis of robots. This paper mainly studied the control method of four-wheel driving omnidirectional chassis. By modeling and simulating on the kinematics of the four-wheel driving omnidirectional chassis, the transfer function of the control system was achieved. The navigation of the system was omnidirectional encoder navigation. The control system was the close-loop control system and the detecting points, leading correction links and the actual acceleration or deceleration had been considered. The experiments showed that the control method proposed by this paper could realize the function of reservation and had a high control precision. It's meaningful for the flexible movement of robots.