Decision model for determining the behavior of pedestrians approaching from both sides of a blind corner by considering tactics and information uncertainty

This paper presents a model for determining the behavior of pedestrians attempting to avoid collision when approaching an indoor blind corner from both sides. We constructed a decision model that takes tactics into account by using a mixed strategy based on game theory. In addition, we considered changes in the behavior of pedestrians caused by information uncertainty proportional to the distance from the other person, and derived a formula for such changes by using the Dempster-Shafer theory of evidence. The effectiveness of the developed decision model was verified through simulation. Based on this model, control and information provision considering human behavior can be used to ensure safe and efficient operation of mobile robots even at blind corners of indoor aisle intersections, where the risk of collisions is particularly high.