A robotic wheelchair can be considered a primary means of transportation for people with limited mobility, allowing them to reach their destination safely and quickly. Using an effective pathfinding algorithm in combination with artificial intelligence-based devices installed on a wheelchair can significantly improve navigation. The purpose of this paper is twofold: (a) to develop an effective pathfinding algorithm, called D-PRM, that can be applied in obstacle-rich environment and (b) to create a mathematical decision-support tool for selecting AI-based devices to be installed on a wheelchair. To achieve these goals, we construct an efficient pathfinding algorithm that combines the strengths of the Probabilistic Roadmap (PRM) and A* methods and formulate a mixed integer mathematical programming model for AI-based device selection. Extensive computational experiments validate the performance of the proposed algorithm.