Publication: A Low-Cost Obstacle Avoidance System Prototype for Autonomous Wheelchairs Using a Servo-Mounted Ultrasonic Sensor
1
0
Issued Date
2026-01-01
Resource Type
ISSN
21903018
eISSN
21903026
Scopus ID
2-s2.0-105030872749
Journal Title
Smart Innovation Systems and Technologies
Volume
468 SIST
Start Page
569
End Page
579
Rights Holder(s)
SCOPUS
Bibliographic Citation
Smart Innovation Systems and Technologies Vol.468 SIST (2026) , 569-579
Suggested Citation
Jongchanachavawat W., Mingmuang N., Ployjirapas C., Nanan K., Oiumekha K., Cheychuen N., Noyklay W., Laima P., Bunyarittikit S. A Low-Cost Obstacle Avoidance System Prototype for Autonomous Wheelchairs Using a Servo-Mounted Ultrasonic Sensor. Smart Innovation Systems and Technologies Vol.468 SIST (2026) , 569-579. 579. doi:10.1007/978-3-032-12999-4_50 Retrieved from: https://hdl.handle.net/20.500.14740/55270
Corresponding Author(s)
Other Contributor(s)
Abstract
This research presents the development of a low-cost obstacle avoidance prototype designed for mobile robotic applications, with a potential use case in autonomous wheelchairs. The system utilizes a single ultrasonic sensor mounted on a servo motor to perform multi-directional distance scanning, allowing the robot to detect and avoid obstacles in real time. An Arduino-based control algorithm interprets distance measurements at four predefined angles (30°, 60°, 120°, and 150°), enabling the robot to make navigation decisions including forward movement, turns, and retreating actions. The system was tested under various conditions: with obstacles in front, in front-left, and in all directions (front, left, and right). Results showed a 100% success rate in the simple frontal obstacle scenario, 80% in the front-left obstacle case, and 60% in the most complex environment with obstacles on three sides. The primary cause of failure was the sensor’s limitation in detecting very close objects (less than 2 cm). The findings confirm the feasibility of implementing this single-sensor approach in low-cost assistive mobility devices. The prototype demonstrates effective navigation capabilities and provides a practical foundation for future development of intelligent obstacle-avoidance systems for autonomous wheelchairs.