相手との駆け引きや情報の不確かさを考慮した出合い頭における歩行者の行動判断モデルの構築

概要

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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.