A motorized wheelchair, comprising: left and right drive wheels (62, 64) connected to a wheelchair chassis and providing rolling support for said motorized wheelchair; a left motor in operative communication with the left drive wheel; a right motor in operative communication with the right drive wheel; a first wheelchair chassis rate-of-turn sensor arranged to provide a first signal outputting a first wheelchair chassis actual turn rate, said first wheelchair chassis rate-of-turn sensor being chosen among a gyroscope, an angular rate sensor, and a combination of accelerometers; characterized in that the motorized wheelchair further comprises: a first wheel speed sensor arranged to provide a second signal indicative of a speed of said left drive wheel; a second wheel speed sensor arranged to provide a third signal indicative of a speed of said right drive wheel, said first and second wheel speed sensors (70, 72) being chosen among a tachometer, a tachogenerator, a resolver, and any type of sensor suitable for measuring a linear speed, an angular speed, or a time between revolutions of the drive wheels (62, 64); and a controller in operative communication with the left and right motors (66, 68), first rate-of-turn sensor, and said first and second speed sensors (70, 72), said controller arranged to independently control the left and right motors (66, 68) to drive the left and right drive wheels (62, 64) based at least in part on operator manipulation of one or more input devices, said controller also arranged to combine the first, second, and third signals to detect wheelchair drift and wheelchair veer; and wherein detecting wheelchair drift and wheelchair veer comprises comparing the wheelchair chassis actual turn rate to an expected wheelchair chassis turn rate, wherein the expected wheelchair chassis turn rate is a function of the second and third signals. left and right drive wheels (62, 64) connected to a wheelchair chassis and providing rolling support for said motorized wheelchair; a left motor in operative communication with the left drive wheel; a right motor in operative communication with the right drive wheel; a first wheelchair chassis rate-of-turn sensor arranged to provide a first signal outputting a first wheelchair chassis actual turn rate, said first wheelchair chassis rate-of-turn sensor being chosen among a gyroscope, an angular rate sensor, and a combination of accelerometers; a first wheel speed sensor arranged to provide a second signal indicative of a speed of said left drive wheel; a second wheel speed sensor arranged to provide a third signal indicative of a speed of said right drive wheel, said first and second wheel speed sensors (70, 72) being chosen among a tachometer, a tachogenerator, a resolver, and any type of sensor suitable for measuring a linear speed, an angular speed, or a time between revolutions of the drive wheels (62, 64); and a controller in operative communication with the left and right motors (66, 68), first rate-of-turn sensor, and said first and second speed sensors (70, 72), said controller arranged to independently control the left and right motors (66, 68) to drive the left and right drive wheels (62, 64) based at least in part on operator manipulation of one or more input devices, said controller also arranged to combine the first, second, and third signals to detect wheelchair drift and wheelchair veer; and wherein detecting wheelchair drift and wheelchair veer comprises comparing the wheelchair chassis actual turn rate to an expected wheelchair chassis turn rate, wherein the expected wheelchair chassis turn rate is a function of the second and third signals.