Aiming at the key technical bottlenecks of poor versatility, structural redundancy, insufficient motion stability and dynamic response lag of omnidirectional mobile platforms for service robots, a highly integrated design scheme of an omnidirectional wheel drive module was proposed.The module adopts a horizontal steering wheel topology, innovatively integrating steering, suspension, power and drive-control systems. Based on the concept of drive-control integration, the hardware layout was optimized to achieve miniaturization and interface standardization. The control strategy adopts Hall sensor-based FOC (field oriented control) combined with zero-sequence component injection SVPWM (space vector pulse width modulation) technology. To significantly improve the rotor position estimation accuracy, a multi-layer Hall angle error compensation strategy consisting of “d-axis forced alignment self-learning, three-Hall periodic interpolation, and phase-locked loop direct calibration” was designed. For the speed-current cascade closed-loop control, a PI parameter self-tuning algorithm combining pole-zero cancellation and maximum phase margin was proposed to enhance dynamic response speed and control accuracy. Moreover, a per-unit control system was established to ensure compatibility with multiple motor types.A four-wheel omnidirectional mobile experimental platform was built to systematically conduct a series of tests, including control loop performance, steering accuracy, omnidirectional mobility and maximum load movement. The experimental results show that a single module achieves a maximum load of 50 kg, a full-load speed of 2.16 m/s, a steering accuracy of ±0.23°, a current loop overshoot of ≤5.8% and a settling time of ≤0.562 5 ms. The average lateral offset rate of the multi-module combined platform moving in eight directions was only 0.54 cm/m. Under sudden load application and removal, the speed recovery time was ≤0.591 s and the steady-state error was ≤4.0 r/min. With the core advantages of compact structure, strong versatility, high motion accuracy and outstanding anti-interference capability, the module can be used to rapidly build omnidirectional mobile platforms suitable for logistics handling, medical assistance, security inspection and other scenarios, laying a theoretical and technical foundation for the modular, universal and high-performance development of mobile systems for service robots.