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Implementation of a safety system using ir and ultrasonic devices for mobility scooter obstacle collision avoidance

In this study we propose an approach for increasing mobility scooter safety by detecting and avoiding obstacles. The detection system is based on obstacle detection and implemented using infrared and ultrasonic devices. The system is fully embedded and is composed of six infrared and three ultrasonic devices which allow: far detection for crossing objects or normal speed obstacle detection; close detection for low speed obstacles; side obstacle detection when turning. Three experiments have been carried out using our system in an indoor environment using different object shapes and sizes, crossing distances and turning angles. The system was able to detect all obstacles in the mobility scooters path with the exception of transparent flat surfaces. Obstacles passing in front were also successfully detected and when turning into walls the system correctly detected them.