Abstract: The wheelchair of the present invention comprises propulsion means for at least two drive wheels 1, a wheelchair user movement indicator means 2 that comprises means to indicate a forward, a backward and a rotation movement, at least one sensor system to detect at least one value referring to a surrounding free space, and a controller that comprises means to obtain a linear and a rotation movement component value, ?js, ?js, from the data produced by the movement indicator means, and means to obtain the surrounding free space in a linear and in a rotation component, ?s, ?s, from the at least one value detected by the, at least one, sensor 3, 4, 5. The total linear and rotational movement, ?T, ?T, applied to the propulsion means are calculated as a combination of the linear and rotation movement component value, ?js, ?js, obtained from the movement indicator means and the, at least one, value of the surrounding free space in a linear and rotation component, ?s, ?s.