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The paper focuses on the modeling and control of an omni-directional robot in the real-time environment. The theory has implemented on the RoboCup small-sized robot system which was developed by Institute of Advanced Process Control in Zhejiang University. The performance of the robot shows the effectiveness of the theory.First, though analysis the characteristic of the kinematics and dynamics of the omni-directional robot which equipped four omni-directional wheels, the model of this kind of robots and a control criterion is provided. Furthermore, according to the criterion, the model is simplified dramatically and effectively, then the layout of the robot wheel is designed.A computationally inexpensive and time-optimal trajectory generation method has been carried out using the optimal control theory in the end. The effectiveness, robustness and validity of the method were demonstrated by experiments.The paper is also discussed the path planning problem of the wheeled mobile robot (WMR) in the real-time environment. Using the Kalman filter, the prediction of the moving target (the ball) is implemented. And the path planning algorithm of the robot-catching-ball in dynamic environment is provided.In the end, basing on the theory model above, we designed the electrical hardware of the robot, using the Digital Signal Processor (DSP) as the kernel of controller. Thus, the motion control of the omni-directional robot is implemented. And we also designed other function of the robot in the need of the competition such as kicker and some sensors on board.