A Study on Human Performance in a Cooperative Local Navigation Robotic System

摘要

This paper presents a study on human performance when people are assisted by a purely reactive navigation control system. The goal of such a system isto achieve collaborative human/robot navigation, so that the human driver is always in control but his/her performance is improved by the machine. This SharedControl approach is meant to be implemented on apower robotic wheelchair, so it is important that thehuman feels in control and safe all the time despite anypotential control error caused by disability. Humanand robots inputs are continuously mixed and weightedby local efficiency factors to generate an emergentbehaviour in a mobile robot. Technical, medical,psychological and ergonomic issues are treated. Testswith a Pioneer AT robot driven by volunteers arefinally presented, along with results and analysis.