Mobile robotics is a notable case of high evolution. The robotics community has developed sophisticated analysis and control techniques to meet increasing requirements on the control of motions of mechanical systems. These increasing requirements are motivated by higher performance specifications, an increasing number of degrees-of-freedom. This contribution proposes a controller for motion of the Robotino. A Model Predictive Control (MPC) strategy is used in combination with a Feedforward controller which is applied on an obtained decoupling controller. An implementation of these algorithm in ROS-System with the real Robotino is shown.