Many elderly and disabled people today experience difficulties when manoeuvring an electric wheelchair. In order to help these people, several heuristic naviga-tion algorithms have been devised in the past. How-ever, in order to make the chair fast and reactive, the wheelchair's dimensions, non-holonomic and dynamic constraints are often only approximately taken into ac-count. Consequently, these robotic wheelchairs may and do fail in executing the very same manoeuvres with which the elderly and disabled have problems. A possible approach to tackle this problem, is to use a fine motion planner that takes the kinematic and dynamic constraints explicitly into account. This paper discusses the requirements for such wheelchair fine motion planners. Also, an enhanced version of a previously developed planner for autonomous robots is presented, and it is evaluated for use on wheelchairs.