Novel Mecanum wheels that have been designed recently provide autonomous robots omnidirectional motion abilities in rough terrains. The remaining problem to fully enable omnidirectional robot to execute tasks in rough terrains is to control their motions to allow them to use the full capabilities that such wheels provide. This is especially critical when robots are required to move sideways. In sideways motion, when obstacles are present, the wheels can only overcome obstacles when located at a certain position and oriented at a certain angle with respect to the obstacle (to be overcome). In order to control robots that possess these characteristics, this thesis proposes a novel maneuvering control system that generates random trajectories and evaluates them using a cost function. Trajectories with lower cost values enable the vehicle's position and orientation as well as each of its wheel's angular orientation to closer match the desired robot state. Thus, enabling the robot to overcome obstacles that could otherwise would not be possible in non-traditional motion manoeuvres (e.g., sideways). The proposed control system has been implemented and tested in simulation. The results show that the manoeuvring motion planning system allows a robot equipped with the novel Mecanum wheels to successfully navigate in complex unstructured terrains provided a detailed terrain map is available.