Omnidirectional wheel system that improves mobility, edge cleaning, and obstacle avoidance for robot cleaners. Key benefits True omnidirectional movement: A combined design of the main wheels and vertical small rollers enables lateral translation, diagonal travel, and inplace rotation. This breaks the directional limits of traditional wheels and lets the robot move in any direction without additional steering mechanisms. Better spatial adaptability: 360° rotation and lateral movement allow the robot to pass directly through narrow gaps (for example between desks or chairs) without repeated turning, making navigation in irregular home layouts faster and more reliable. Higher edge cleaning coverage: When paired with the navigation algorithm, the system can travel at a 90° right angle along walls, increasing edge cleaning coverage from a typical 85% (traditional wheels) to approximately 98%. Smoother obstacle avoidance: The wheel assembly can quickly change direction on the fly, adjusting trajectory to avoid obstacles without stopping, which reduces interruptions and improves overall cleaning efficiency. Function and compatibility Function: Provides omnidirectional locomotion (lateral, diagonal, rotational) and rapid directional changes for improved path tracking and edge following. Compatibility: Designed to work with the robot's existing navigation algorithm to execute rightangle wall runs, obstacle avoidance maneuvers, and precise positioning near edges. Performance metric: Demonstrated increase in edge cleaning coverage from 85% to 98% when integrated with navigation control. Practical applications / use scenarios Under and between furniture: Move straight through tight gaps between desks, chairs, or sofa legs without repeated turning or complex repositioning. Edge and baseboard cleaning: Follow walls and baseboards at precise right angles to capture debris along edges that traditional wheel designs often miss. Clutteredroom navigation: Quickly adjust wheel direction to skirt around toys, cables, or small obstacles without stopping, maintaining cleaning continuity. What this solves for customers Reduces missed edge areas and repeat passes, saving time and improving cleanliness. Minimizes the need for manual intervention in narrow or cluttered spaces. Delivers more consistent, predictable navigation performance when paired with the robot's navigation software. Tone and reliability The description reflects the wheel system's mechanical design and its measurable effect on edge coverage and maneuverability. No additional specifications or claims beyond the described functions and performance increase are made.