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

HI-DWA: Human-Influenced Dynamic Window Approach for Shared Control of a Telepresence Robot