This paper presents a study in the areas of kinematics and dynamics upon an omnidirectional tricycle that possess six independent motors on its wheels, being treated basic topics involving the main technical aspects of the theory involved in the project. It discusses, among others, the conclusions on simulations performed on an adopted modeling for the vehicle in question, making an analysis on best tricycle behavioral approaches in order to be able to autonomously follow a path previously determined in a intelligent way. Connection Graphs assist in the visualization of the whole system. It also performed the behavioral analysis of the vehicle response to different combinations of speeds and angles in its three wheels. It will then be initiated the study of various interesting topics to be further developed in other works, which is a good basis for future works.