Arduino uno + 5 IR obstacle sensor
An Arduino UNO has a max current of 20 mA per IO Pin and a max current of 200 mA of all Pins together. If you intent to drive the senders with the pins then this is impossible.

If you power the Arduino with USB, the VCC current is limited to 500 mA (thermo fuses). If you power it externally, it depends on the power supply. Using the voltage from the Vcc Pin is risky (IMHO), because the Arduino needs power too. 

So with 100 mA per sensor I would definitively use an external power supply.