Sure. So what frequency are the IR receivers? You'll need to adjust the PWM output frequency to match but I should be able to steer you in the right direction.
I'll save you some headache right now and point out that you (probably- I still don't know the exact sensor that you're using (HINT)) won't be able to leave the IR LED constantly transmitting. Those IR receivers are designed to accept fairly short commands and if they are exposed to IR constantly then they basically stop working. So you'll probably want to turn the IR LED on and then off quickly- for example have it on for 30mS and then off for 70mS.
You'll need to think about how you're going to read all five sensor inputs, and then also have a way of seeing if it has been more than 70mS since any of the sensors has been tripped.