The main goal of this project is the construction of a new type of electric wheelchair using omnidirectional wheels. We implemented some algorithms for dynamic obstacle avoidance based on reactive algorithms of the Bug family. Time and distance from one point to another are evaluated autonomously, and we compare the results of a wheelchair using Mecanum wheels and another one using a conventional wheel. From this simulation, it is possible to verify how effective it is the wheelchair proposed in this paper.

Keywords : Obstacle Avoidance, Wheelchair, Mecanum Wheel, Autonomous, Robot.