Despite rapid technological and scientific progress in devices for people with disabilities, there has been very little progress in wheelchair design in the last 200 years. The folding wheelchair came in 1933, and powered wheelchairs were developed in the early 1970's. New materials such as plastics, fiber reinforced composites and beryllium aluminum alloys have found their way into the design and manufacture of lighter, stronger and more reliable wheelchairs. Several electric wheelchairs have been developed in recent years with a computer controlled mechanism such as "WALKY", "Tin Man", "CALL smart chair" and "Nav-Chair". These electric wheelchairs can utilize a wide variety of sensors such as ultrasonic and infrared sensors, cameras, encoders, accelerometers and gyroscopes, with various desired control devices such as joystick, pressure pads, etc., to provide comfort and ease. Integrated wheelchair electrical systems with customized user interfaces, multiple sensors and different types of drivers can make the function and control of a wheelchair much simpler and safer and more stable and practical for people with disabilities. disability. Appropriate algorithms to control the wheelchair help the user avoid obstacles such as walls, move obstacles like people and other wheelchairs, plan collision-free paths, and move safely in cluttered environments without taking up much of the user's input.