Grant, Thank you for the suggestions, I contacted a small company in the midwest that produces “Robot” parts including a variety of omni wheels. Their engineer looked at the video we have and agrees, an omni wheel just might do the trick.
Anyway we are going to fit two 8” omni wheels to an existing cart, alter the frame accordingly and see how it works.
I will keep your group updated
Thank you again for steering us in the right direction.