Efficiency based reactive shared control for collaborative human/robot navigation

Autonomous robots are capable of navigating on their own. In some cases, though, it is interesting to allow humans to influence navigation. Shared control is typically achieved either by giving control to the human or the robot at some specific situations. In this work, we propose a method to share control between humans and robots at each point of a given trajectory, so that both have weight in the resulting behavior of the mobile. This is achieved by estimating their respective local efficiencies at each time instant and combining their commands into a single order. In order to achieve a seamless combination, this procedure is integrated into a bottom-up architecture via a reactive layer. The system is meant to be used in wheelchair control for people with disabilities. Thus far, we have tested the proposed method using a Pioneer AT robot driven by several volunteers. Results have been satisfactory both from a quantitative and qualitative point of view.