We discuss a method of generating near-optimal trajectories for a robot with omnidirectional
drive capabilities, taking the second-order dynamics of the vehicle into account.
The relaxation of optimality results in immense computational savings, critical in
dynamic environments. In particular, a decoupling strategy for each of the three degrees
of freedom of the vehicle is presented, along with a method for coordinating the degrees
of freedom. A nearly optimal trajectory for the vehicle can typically be calculated
in less than 1000 floating point operations, which makes it attractive for real-time
control in dynamic and uncertain environments.