Abstract
In the paper, we construct human behavioral judgment model for collision avoidance when a person is walking and abruptly encounters another at an indoor blind corner. The judgment model includes tactics which take effect when a person encounters another using a mixed strategy of game theory. In addition, we changed the human behavior caused by information uncertainty taking the distance to the other person into a formula using the Dempster-Shafer theory of evidence. Effectiveness of the developed judgment model was verified by a simulation. Based on such a model as to take human behavioral characteristics into account, robot navigation control is expected to realize safe and efficient operation even at blind corners of indoor aisle intersections that contain a high risk of collisions.
