为视障者设计仓库远程操控模拟器，融合视听触觉反馈提升导航安全。
NavVI: A Telerobotic Simulation with Multimodal Feedback for Visually Impaired Navigation in Warehouse Environments
- 通过视觉、听觉、触觉三模态反馈同步引导视障用户操作机器人。
- 动态重规划路径避免移动障碍物，实时反馈静态与动态障碍物位置。
- 系统可适配商用硬件，适合无障碍机器人研究与实际仓库部署。
工业仓库中叉车、货架和人员密集，导致视障和低视力（BLV）操作员进行机器人远程操控时风险高、要求严苛。尽管无障碍远程操控对促进包容性劳动力参与至关重要，但针对工业环境的系统性研究仍有限，且现有研究极少关注为BLV用户设计的多模态引导。本文提出一种新型多模态引导模拟器，使BLV用户能在高保真仓库环境中操控移动机器人，并同步接收视觉、听觉和触觉反馈。系统结合导航网格与定期重规划，确保路径准确，避开移动的叉车和人员虚拟体。低视力用户通过可见路径线导向目的地；语音提示以顺时针方向播报即将转弯；基于距离的触觉反馈则提醒路径上的静止与移动障碍物。该实时闭环系统提供可重复测试平台与算法参考，其设计原则因导航、语音与触觉模块与商用硬件兼容，易于迁移至真实机器人，支持在实际仓库中快速开展无障碍遥控工具的可行性研究与部署。
原文摘要 · Abstract (English)
Industrial warehouses are congested with moving forklifts, shelves and personnel, making robot teleoperation particularly risky and demanding for blind and low-vision (BLV) operators. Although accessible teleoperation plays a key role in inclusive workforce participation, systematic research on its use in industrial environments is limited, and few existing studies barely address multimodal guidance designed for BLV users. We present a novel multimodal guidance simulator that enables BLV users to control a mobile robot through a high-fidelity warehouse environment while simultaneously receiving synchronized visual, auditory, and haptic feedback. The system combines a navigation mesh with regular re-planning so routes remain accurate avoiding collisions as forklifts and human avatars move around the warehouse. Users with low vision are guided with a visible path line towards destination; navigational voice cues with clockwise directions announce upcoming turns, and finally proximity-based haptic feedback notifies the users of static and moving obstacles in the path. This real-time, closed-loop system offers a repeatable testbed and algorithmic reference for accessible teleoperation research. The simulator's design principles can be easily adapted to real robots due to the alignment of its navigation, speech, and haptic modules with commercial hardware, supporting rapid feasibility studies and deployment of inclusive telerobotic tools in actual warehouses.
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