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A Framework for Developing Modular Mobility Aids for People with Visual Impairment: An Indoor Navigation Use Case

(2023) - Paper

Florian von Zabiensky; Grigory Fridman; Oguz Ozdemir; Sebastian Reuter; Michael Kreutzer; Diethelm Bienhaus

Technische Hochschule Mittelhessen, University of Applied Sciences, Giessen, Germany

Notice: this page was machine-translated and is pending editorial review.

Visual

Block diagram of an indoor navigation system with positioning, smartphone app, and feedback device.
Fig. 3 Indoor navigation system with interchangeable components.

Abstract

This paper describes a framework for component-based development of electronic travel aids (ETAs) to reduce repetitive development effort in research projects. The core contribution is a component delimitation model that allows interchangeable combination of subfunctions such as environment sensing, obstacle detection, and output modalities. As practical validation, an indoor navigation system based on ultra-wideband (UWB) is implemented. Implementation uses the ROS2 ecosystem to leverage existing tooling, interfaces, and reuse across teams. The paper concludes with reflections on the development process and an assessment of opportunities and limitations of ROS2 for modular ETA prototypes.

Keywords

  • ETA
  • electronic travel aid
  • mobility aid
  • ROS2
  • ROS
  • robot operating system
  • component-based development

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Figures

5 visuals from the paper.

  1. Extended HMI model for ETAs with human user, sensors, displays, and internal machine state.
    Fig. 2 Extended HMI model for electronic travel aids.
  2. Indoor navigation architecture with bHapticsX40, Pozyx system, compass, and smartphone app.
    Fig. 3 Indoor navigation system with interchangeable components.
  3. Architecture variant with CARLA simulation where environment and sensors are replaced virtually.
    Fig. 4 Indoor navigation with CARLA as simulation environment.
  4. Abstract FMC model of a navigation system with positioning, correction, and route management.
    Fig. 5 Abstract FMC model of a navigation system.
  5. FMC model of a vibration vest with driver layer, feedback algorithms, and Bluetooth integration.
    Fig. 6 FMC model of bHapticsX40 vest implementation.