INTRODUCTION

People with visual impairment face challenges in living their daily lives in terms of
mobility. In present time, there is a lack of compensation of technology for them to contend these
challenges. Creating a system or a device that would enable a visually impaired person to move
from one position into another by detecting obstacles inside the certain parameter of a dynamic
environment. Moving in an unfamiliar environment becomes a challenge unless they are equipped
with an aid system, usually a walking cane or a guide dog. In dynamic environments, sound is
produced while the person is moving which navigates the position of an object/obstacle and can
be further verified by touching the obstacle. With the advancement of technology, electronic travel
aids (ETAs) are devised to include systems characteristics that not just determine the current
location and keep track through the memorized course until the destination is reached but also
avoid obstacle.
Various studies for navigation for the blind are presented in different approach. These
approaches have a loophole when it comes to the method, design or technology. One of the
existing systems has been designed to recognize obstacles using ultrasonic sensor integrated into
a walking cane (Ryu, 2011). However, it does not eliminate the portability and convenience since
the user still needs to hold the cane and propagate the cane around; it simply made the cane
wireless. Also, another system includes three infrared sensors system for detecting of ascending
and descending stairs and the decision are based on the current sensors readings (Lee, 2010).
However, it is tested only on three types of terrain and used infrared sensors in distance
measurement. Other studies recreate traditional wearable obstacle detection device for the blind
by providing and guiding them through the easiest path to avoid the obstructions. They also affix
the detection of elevated obstacle using ultrasonic sensors. However, there are such limitations in

terms of environment, movement, and body built. The device needs more portability to be able to
use by all visually impaired including physically challenged people. There is a need to reposition
the sensors into a more stable part in which certain limitation can be eliminated and produce better
results.
The mostly used approach made by the researchers in obstacle detection systems for
visually impaired persons is obstacle sensing only. This may not reduce the risk of accidents of
the users especially for elevations such as stairs. Other researchers approach is with obstacle
elevation sensing. This approach is limited only to user with slim or small body built and needs
frequent sensor calibration. This existing systems have limited sensing capabilities, users body
built and stability. That is why there is a need to implement a new design that can be used by all
visually impaired person at the same time can detect obstacles and elevation without frequent
sensor calibration.
The general objective of this paper is to actualize a portable and convenient wearable
obstacle detection system, a wearable belt bag, which uses more stable ultrasonic sensors to avoid
frequent sensor calibration and can detect obstacles basic elevation. The specific objectives are
to (1) design a wearable belt bag, which uses Gizduino Microcontroller integrated with multiple
ultrasonic sensors and earphones. (2) Calibrate the sensors (3) program the software part using C;
and (4) test the performance the system in a static controlled environment.
This wearable obstacle detection system will be a significant attempt in aiding those who
are visually impaired and those who have limitations in sight. This will help them move in
unfamiliar environment without bringing sighted friend or family member to help. In addition, it
will able to lessen the accidents due to self-navigation in unknown environment.

This system is exclusively for indoor use only under normal conditions. It will sense the
environment for obstacles and elevation limited only to front and back sides of the user. The
system will then alarms and guide the user through the connected earphones after sensing an
obstacle. Movement of the user will affect the raw data. This paper will not cover the functions
for correcting the errors of the users movement speed. It will be tested in a controlled environment
where there are already available obstacles for instance dormitories, schools, and establishments.