A motorized wheelchair includes left and right drive wheels, left and right motors,rate-of-turn sensor, first and second speed sensors, and controller arrangedto combine signals from the sensors in a manner that detects drift. Alternatively,the motorized wheelchair includes left and right drive wheels, left and rightmotors, first and second rate-of- turn sensors, and controller arranged to combinesignals from the sensors in a manner that compensates for voltage offset errors.In another arrangement, the motorized wheelchair includes left and right drivewheels, left and right motors, first and second rate-of-turn sensors, inputdevice, and controller arranged to combine signals from the sensors and inputdevice in a manner that controls the motors using an integrated turn rate error.Several methods for controlling each wheelchair configuration are also provided.These methods process signals associated with desired, expected, or actualturn rate to determine if the wheelchair is off course.
