In this chapter, we discuss the design of a unique drive system that can achieve omnidirectional holonomic motion on a large-scale industrial AGV. The AGV achieves both self-navigation and omnidirectional capabilities through the use of a novel form of swerve drive. This novel serve drive makes use of two powered wheels and two unpowered casters to achieve omnidirectional holonomic motion. This “two-wheeled” approach is unique on an industrially compliant AGV.