In this report a traction controller is developed for an omni-directional robot, named Turtle. At first traction and slip are defined and the geometry of the Turtle is discussed. Then the explanation of the relevant software for the motion of the Turtles is spread over three chapters. The motion schemes of the Turtle in Simulink are simplified and discussed. The trajectory planner that creates the driving path for a Turtle is explained in detail and simulations are performed to show what kind of signals the trajectory planner creates and how these signals are alternated as inputs to the motors. After this some research has been done into control systems of other vehicles and some initial ideas are sketched for traction control in the Turtles. Finally the actual traction controller is developed and explained using flowcharts, the implementation (in C-code) of the traction controller and some simulations to give a quick look for how it works. Afterwards a general conclusion is drawn and
some future work is suggested.