In motion process of indoor mobile wheelchair robot, its characteristics would change due to the influences of abrasion of material and the environmental differences,etc.This will result in large overshoot,slow response and easy oscillation to classical proportion integration differential (PID) control in use.In order to deal with these problems,fuzzy inference method is used as proposed to obtain the PID parameters.Firstly,the robot motion control system architecture was designed, secondly, the kinematics model of robot was built. Thirdly, combined with practical experience that the actual operator controls the robot, fuzzy inference method was used to obtained the PID control parameters. Finally, experiments on the robot were done.The experimental results show that the fuzzy PID can effectively reduce the deflection error of the heading angle and the overshoot of the system, and improve the performance of the system.