This paper considers the problem of enabling the user to modify the path of a telepresence robot. The robot is capable of autonomously navigating to a goal predefined by the user, but the user might still want to modify the path, for example, to go further away from other people, or to go closer to landmarks she wants to see on the way. We propose Human-Influenced Dynamic Window Approach (HI-DWA), a shared control method aimed for telepresence robots based on Dynamic Window Approach (DWA) that allows the user to influence the control input given to the robot. To verify the proposed method, we performed a user study (N=32) in Virtual Reality (VR) to compare HI-DWA with switching between autonomous navigation and manual control for controlling a simulated telepresence robot moving in a virtual environment. Results showed that users reached their goal faster using HI-DWA controller and found it easier to use. Preference between the two methods was split equally. Qualitative analysis revealed that a major reason for the participants that preferred switching between two modes was the feeling of control. We also analyzed the effect of different input methods, joystick and gesture, on the preference and perceived workload.

翻译：本文考虑了使用户能够修改远程存在机器人路径的问题。 机器人能够自主导航到用户预先确定的目标, 但用户仍可能想要修改路径, 例如, 远离其他人, 或者更接近她想要在路上看到的地标。 我们提议使用人类影响动态窗口方法( HI- DWA), 这是一种基于动态窗口方法( DWA)的远程存在机器人的共同控制方法, 使用户能够影响给机器人的控件输入。 为了验证拟议方法, 我们在虚拟现实( VR)中进行了用户研究( N=32), 将HI- DWA与转换为在虚拟环境中控制模拟远程存在机器人的自动导航和手动控制方法( 模拟远程存在机器人) 比较。 结果表明, 用户更快地实现了使用 HI- DWA 控制器( HI- DWA 控制器) 的目标, 并发现它更容易使用。 两种方法的偏爱度是两种方法之间的一个主要原因。 定性分析显示, 参与者之所以倾向于在两种模式之间转换是控制的感觉。 我们还分析了不同投入方法的姿态和姿态的影响。