The principal characteristic of the omnidirectional robots is their ability to make movements in all directions into their work environment, and without the need to rotate on their own axis. This makes them suitable for operating in indoor spaces, such as offices, warehouses or homes. The wheels of omnidirectional robots are composed by a set of rollers over their rims, which allow them to move, but their operation is limited to low-speed movements and operate at ideal environments with flat surfaces. On the other hand, robots with conventional wheels do not make lateral movements with respect to their body, and in order to achieve omnidirectional behavior it is necessary for these kinds of robots to perform a sequence of maneuvers, which in general, represents a challenge in the control strategies. In this paper, we present a control strategy that separates the movements of the differential drive robot into independent rotational and translational movements, by controlling the linear and angular velocities of a kinematic model-based, the unicycle model. The robot control system is implemented with proportional controllers and a state machine for supervise the global behavior, and the control strategy is developed from position control, pose control until path tracking tasks. The performance of the proposal is shown by two examples in which the controller performs some maneuvers that involve 90 ° turns, half turns (180 °), and routes with linear sections between key points (waypoints) from a starting to a final target pose.