An omnidirectional platform comprising: a first module that defines a rotation centre of the omnidirectional platform, wherein a coordinate origin is located provided with an X axis, a Y axis and a Z axis orthogonal to each other, said first module being provided with: • at least a first drive wheel connected to a first horizontal axle parallel to the X axis and a second drive wheel connected to a second horizontal axle, both first and second axles (11, 21) being coplanar to the same plane parallel to the Z axis, said plane being separated a distance D from the Z axis, the first drive wheel being driven by means of a first actuator, and the second drive wheel being driven by means of a second actuator; • a second module completely supported on the first module and connected thereto by means of a third vertical axle coaxial to the Z axis, the relative rotation of the second module and of the first module being driven by means of a third actuator; • a control device connected to the first, second and third actuators (12, 22, 32) to control their coordinated drive configured to obtain an omnidirectional displacement of the platform by means of a precise control of the displacement of the rotation centre, obtained by means of the actuation of the first and second actuators (12, 22), and by means of a precise control of the orientation of the second module by means of the precise actuation of the third actuator; • a free rotating rolling element, the points of contact with the ground of the first drive wheel, of the second drive wheel and of the free rotating rolling element defining a support plane on the ground; wherein the rotation centre is arranged in an area of the first module comprised between the first drive wheel, the second drive wheel and the free rotating rolling element; characterized in that the connection between the first module and the second module through the third axle includes a levelling device with two axes of freedom configured to automatically keep the second module in a horizontal position independently of the tilting of the first module. a first module that defines a rotation centre of the omnidirectional platform, wherein a coordinate origin is located provided with an X axis, a Y axis and a Z axis orthogonal to each other, said first module being provided with: • at least a first drive wheel connected to a first horizontal axle parallel to the X axis and a second drive wheel connected to a second horizontal axle, both first and second axles (11, 21) being coplanar to the same plane parallel to the Z axis, said plane being separated a distance D from the Z axis, the first drive wheel being driven by means of a first actuator, and the second drive wheel being driven by means of a second actuator; • a second module completely supported on the first module and connected thereto by means of a third vertical axle coaxial to the Z axis, the relative rotation of the second module and of the first module being driven by means of a third actuator; • a control device connected to the first, second and third actuators (12, 22, 32) to control their coordinated drive configured to obtain an omnidirectional displacement of the platform by means of a precise control of the displacement of the rotation centre, obtained by means of the actuation of the first and second actuators (12, 22), and by means of a precise control of the orientation of the second module by means of the precise actuation of the third actuator; • a free rotating rolling element, the points of contact with the ground of the first drive wheel, of the second drive wheel and of the free rotating rolling element defining a support plane on the ground; • at least a first drive wheel connected to a first horizontal axle parallel to the X axis and a second drive wheel connected to a second horizontal axle, both first and second axles (11, 21) being coplanar to the same plane parallel to the Z axis, said plane being separated a distance D from the Z axis, the first drive wheel being driven by means of a first actuator, and the second drive wheel being driven by means of a second actuator; • a second module completely supported on the first module and connected thereto by means of a third vertical axle coaxial to the Z axis, the relative rotation of the second module and of the first module being driven by means of a third actuator; • a control device connected to the first, second and third actuators (12, 22, 32) to control their coordinated drive configured to obtain an omnidirectional displacement of the platform by means of a precise control of the displacement of the rotation centre, obtained by means of the actuation of the first and second actuators (12, 22), and by means of a precise control of the orientation of the second module by means of the precise actuation of the third actuator; • a free rotating rolling element, the points of contact with the ground of the first drive wheel, of the second drive wheel and of the free rotating rolling element defining a support plane on the ground; wherein the rotation centre is arranged in an area of the first module comprised between the first drive wheel, the second drive wheel and the free rotating rolling element; characterized in that the connection between the first module and the second module through the third axle includes a levelling device with two axes of freedom configured to automatically keep the second module in a horizontal position independently of the tilting of the first module.