**3.3 Power distribution**

The main energy source of the system consists of two serial connected lead acid batteries. The main voltage level for the traction motors is 24 V. On the other hand, there are several other components for autonomous operation. In order to provide the appropriate voltage level for each sensor and computational hardware, DC/ DC converters are used. **Figure 5** illustrates the power distribution scheme, including voltage levels, of the wheelchair components. An additional electric circuit is designed for power distribution using appropriate connectors fuses. DC/DC converters and the designed circuit can be seen from **Figure 4**.
