321 Electric Powered Wheelchair Based on Multimaster Architecture

Most of traditional Electric Powered Wheelchairs (EPW) apply a master-slave architecture where there is a central unit directing everything. It facilitates control strategy and reduces conflicts. But with more and more functions being added on EPW, such a structure seems outdated by increasing time delay and making system less flexible with new modules. In this paper, we present our new system architecture for EPW based on CAN bus and our first model of such design architecture. Our design shows better system flexibility and has unlimited room for improvement.