**3.4 Communication structure**

Until now, all the electronic components have been shown and their purpose of use has been explained. In order to use all these devices properly, a secure communication network needs to be constructed. Each component has different interface in the system. For this reason, there are five different communication protocols such as Ethernet, USB 2.0, RS232, USB 3.1, and analog signals. **Figure 6** illustrates the overall communication architecture of the developed autonomous wheelchair.
