比较共享控制与切换控制在远程机器人导航中的表现
Sharing but Not Caring: Similar Outcomes for Shared Control and Switching Control in Telepresence-Robot Navigation
- 让机器人自主导航，用户可微调路径以适应需求
- 两种方式效率相当，但共享控制未显著降低任务负荷
- 适合研究人机协作导航系统设计的学者和开发者
远程机器人使用户能够与远端环境互动，但高效且直观的导航仍是挑战。本文开发并评估了一种共享控制方法：机器人自主导航，同时允许用户影响路径生成以更好满足需求。我们将其与控制切换（用户在直接控制和自动化控制间切换）进行对比。假设共享控制在保持效率的同时能降低用户工作量。两项连续用户研究（每项最终样本量为n=20）显示，共享控制未降低导航效率，但未显著减少任务负荷。需进一步研究影响用户偏好与性能的深层因素。
原文摘要 · Abstract (English)
Telepresence robots enable users to interact with remote environments, but efficient and intuitive navigation remains a challenge. In this work, we developed and evaluated a shared control method, in which the robot navigates autonomously while allowing users to affect the path generation to better suit their needs. We compared this with control switching, where users toggle between direct and automated control. We hypothesized that shared control would maintain efficiency comparable to control switching while potentially reducing user workload. The results of two consecutive user studies (each with final sample of n=20) showed that shared control does not degrade navigation efficiency, but did not show a significant reduction in task load compared to control switching. Further research is needed to explore the underlying factors that influence user preference and performance in these control systems.
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