The invention provides a driving power foot wheel component, an omni-directional moving platform and a control method thereof. The driving power foot wheel component comprises a rolling wheel, a wheel axle and a wheel frame, and further comprises a driving device, a steering device and a differential speed device, wherein the driving device comprises a driving motor and a driving gear set, and driven by the driving motor, the driving gear set is rotated to control the rolling wheel to roll; the steering device comprises a steering motor and a steering gear set, and driven by the steering motor, the steering gear set is rotated to control the rolling wheel to veer; the differential speed device comprises a planetary gear train, wherein the planetary gear train comprises a first gear, a second gear, a planetary carrier and an auxiliary gear set; the first gear is arranged on the output shaft of the driving motor; the second gear is arranged on the output shaft of the steering motor; one end of the planetary carrier is connected to the driving gear set and the other end is connected to the auxiliary gear set; and the first gear and the second gear are respectively meshed with the auxiliary gear set, so that the rolling wheel is not easy to slip; therefore, transmission efficiency is improved.