User Interface
iOS Application
Developed an integrated UI for teleoperation and navigation.
Teleoperation
- Established ROS2 communication between the iOS app and the wheelchair.
- Implemented fundamental movement controls (forward, backward, left turn, right turn, stop).
- Designed intuitive push-and-hold buttons for continuous movement, ensuring immediate stop upon release for safety.
Navigation
- Destination entry via text or speech; routes fetched from Google Directions, downsampled, and streamed as waypoints
- Displays raw, filtered, and RTK-corrected GPS plus device orientation; switches fully to RTK after iPhone GPS proved unstable
User Interaction
Speech Recognition
- Seamless speech-to-text conversion with multi-language support.
- Use case: Voice commands for setting a destination.
Smart Assistant
- Processing time improvement planned for future updates.
- Use case: ChatGPT integration for answering various questions.
