A method for controlling movements of a robot from a start to a stop position, and preventing movements of the robot in an offlead angle while moving on tracks laid out on a frame structure forming a grid, the robot having pairs of wheels, W 1-2 and W 3-4, being controlled by local controllers, Controller 1-2, Controller 3-4, connected to individual drive means, Drive 1, Drive 2, Drive 3, Drive 4, for each wheel, comprising: a) monitoring each wheel with speed and angular position sensors connected to the local controllers, Controller 1-2, Controller 3-4, controlling each said pair of wheels, W 1-2 and W 3-4, and where the following steps are being performed in a master controller communicating with each of the local controllers, Controller 1-2, Controller 3-4: - b) receiving a start and stop position of the robot; - c) receiving current speed and angular position of each wheel of said pairs of wheels, from the local controllers, Controller 1-2, Controller 3-4; - d) receiving a position of the robot relative to the frame structure; characterized in - e) setting up speed driving sequences, V seq1-2, V seq3-4, comprising speed data defining acceleration, constant speed and deceleration for each pair of wheels, W 1-2 and W 3-4, along the same axis normal to the driving direction, based on the current speed and the angular position of each wheel, the received position of the robot and the start and stop position of the robot; - f) transmitting the speed driving sequences, V seq1-2, V seq3-4, to each of the local controllers, Controller 1-2, Controller 3-4, for controlling accelerating and decelerating of each pair of wheels, W 1-2 and W 3-4, and where each local controller, Controller 1-2, Controller 3-4, adjusts the speed of one wheel of the pair of wheels, W 1-2 and W 3-4, if the current speed of the one wheel is deviating from the set speed of the pair of wheels, W 1-2 and W 3-4, set by the speed driving sequences, V seq1-2, V seq3-4, thereby synchronising the pairs of wheels, W 1-2 and W 3-4, - g) repeating the steps c) to f) above for controlling the movements of the robot from the start to the stop position. a) monitoring each wheel with speed and angular position sensors connected to the local controllers, Controller 1-2, Controller 3-4, controlling each said pair of wheels, W 1-2 and W 3-4, and where the following steps are being performed in a master controller communicating with each of the local controllers, Controller 1-2, Controller 3-4: - b) receiving a start and stop position of the robot; - c) receiving current speed and angular position of each wheel of said pairs of wheels, from the local controllers, Controller 1-2, Controller 3-4; - d) receiving a position of the robot relative to the frame structure; characterized in - e) setting up speed driving sequences, V seq1-2, V seq3-4, comprising speed data defining acceleration, constant speed and deceleration for each pair of wheels, W 1-2 and W 3-4, along the same axis normal to the driving direction, based on the current speed and the angular position of each wheel, the received position of the robot and the start and stop position of the robot; - f) transmitting the speed driving sequences, V seq1-2, V seq3-4, to each of the local controllers, Controller 1-2, Controller 3-4, for controlling accelerating and decelerating of each pair of wheels, W 1-2 and W 3-4, and where each local controller, Controller 1-2, Controller 3-4, adjusts the speed of one wheel of the pair of wheels, W 1-2 and W 3-4, if the current speed of the one wheel is deviating from the set speed of the pair of wheels, W 1-2 and W 3-4, set by the speed driving sequences, V seq1-2, V seq3-4, thereby synchronising the pairs of wheels, W 1-2 and W 3-4, - g) repeating the steps c) to f) above for controlling the movements of the robot from the start to the stop position. - b) receiving a start and stop position of the robot; - c) receiving current speed and angular position of each wheel of said pairs of wheels, from the local controllers, Controller 1-2, Controller 3-4; - d) receiving a position of the robot relative to the frame structure; characterized in - e) setting up speed driving sequences, V seq1-2, V seq3-4, comprising speed data defining acceleration, constant speed and deceleration for each pair of wheels, W 1-2 and W 3-4, along the same axis normal to the driving direction, based on the current speed and the angular position of each wheel, the received position of the robot and the start and stop position of the robot; - f) transmitting the speed driving sequences, V seq1-2, V seq3-4, to each of the local controllers, Controller 1-2, Controller 3-4, for controlling accelerating and decelerating of each pair of wheels, W 1-2 and W 3-4, and where each local controller, Controller 1-2, Controller 3-4, adjusts the speed of one wheel of the pair of wheels, W 1-2 and W 3-4, if the current speed of the one wheel is deviating from the set speed of the pair of wheels, W 1-2 and W 3-4, set by the speed driving sequences, V seq1-2, V seq3-4, thereby synchronising the pairs of wheels, W 1-2 and W 3-4, - g) repeating the steps c) to f) above for controlling the movements of the robot from the start to the stop position.