Abstract
Autonomous mobile robots operating in human-shared indoor environments often require paths that reflect human spatial intentions, such as avoiding interference with pedestrian flow or maintaining comfortable clearance. However, conventional path planners primarily optimize geometric costs and provide limited support for explicit route specification by human operators. This paper presents MRReP, a Mixed Reality-based interface that enables users to draw a Hand-drawn Reference Path (HRP) directly on the physical floor using hand gestures. The drawn HRP is integrated into the robot navigation stack through a custom Hand-drawn Reference Path Planner, which converts the user-specified point sequence into a global path for autonomous navigation. We evaluated MRReP in a within-subject experiment against a conventional 2D baseline interface. The results demonstrated that MRReP enhanced path specification accuracy, usability, and perceived workload, while enabling more stable path specification in the physical environment. These findings suggest that direct path specification in MR is an effective approach for incorporating human spatial intention into mobile robot navigation. Additional material is available at this https URL
Abstract (translated)
在人类共享的室内环境中运行的自主移动机器人，通常需要其路径能够反映人类的空间意图，例如避免干扰人流或保持舒适的间距。然而，传统的路径规划器主要优化几何成本，并为人类操作员提供有限的显式路径指定支持。本文提出了MRReP，一个基于混合现实的界面，允许用户通过手势直接在物理地面上绘制手绘参考路径（HRP）。所绘制的手绘参考路径通过一个定制的手绘参考路径规划器集成到机器人导航栈中，该规划器将用户指定的点序列转换为自主导航的全局路径。我们在一个被试内实验中，将MRReP与传统的2D基线界面进行了对比评估。结果表明，MRReP提高了路径指定的准确性、可用性，并降低了感知工作负荷，同时实现了在物理环境中更稳定的路径指定。这些发现表明，在混合现实中直接指定路径是将人类空间意图融入移动机器人导航的有效方法。更多材料可通过此https URL获取。
URL
https://arxiv.org/abs/2604.00059
