A few weeks ago Simon Merret posted a question about how to control an electric wheelchair. The topic was closely related to a previous project I posted here about the path-planning of a similar vehicle. I decided to study the kinematics a bit further an put together a document describing how this would be done. The document is work in progress but already contains most of what I was planning to include. A few Matlab/GNU Octave scripts that simulate the vehicle are included for the convenience of the reader.
Rathet than posting a long description here, all material is made available in a document that is linked in the Files section.