A Low-Cost Obstacle Avoidance System Prototype for Autonomous Wheelchairs Using a Servo-Mounted Ultrasonic Sensor

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dc.contributor.authorJongchanachavawat, Wirote
dc.contributor.authorMingmuang, Noppon
dc.contributor.authorPloyjirapas, Chayut
dc.contributor.authorNanan, Kwanchai
dc.contributor.authorOiumekha, Kamonwan
dc.contributor.authorCheychuen, Noppong
dc.contributor.authorNoyklay, Wannatham
dc.contributor.authorLaima, Polaphat
dc.contributor.authorBunyarittikit, Suphat
dc.date.accessioned2026-08-06T10:54:01Z
dc.date.available2026-08-06T10:54:01Z
dc.date.issued2026-01-01
dc.description.abstractThis 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.
dc.identifier.citationSmart Innovation Systems and Technologies, 468 SIST, 569-579, 2026
dc.identifier.doi10.1007/978-3-032-12999-4_50
dc.identifier.issn21903018
dc.identifier.other2-s2.0-105030872749
dc.identifier.urihttps://dspace.kmitl.ac.th/handle/123456789/17716
dc.sourceSmart Innovation Systems and Technologies
dc.subjectassistive technology
dc.subjectAutonomous wheelchair
dc.subjectlow-cost
dc.subjectobstacle avoidance
dc.subjectultrasonic sensor
dc.titleA Low-Cost Obstacle Avoidance System Prototype for Autonomous Wheelchairs Using a Servo-Mounted Ultrasonic Sensor
dc.typeConference Paper

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