An algorithm for a mobile robot that avoids collision with humans by slowing down and stopping is constructed in this research. First, experiments of collision avoidance of a human with another human while walking in an orthogonal intersection are conducted, and the characteristic of avoidance behavior of the human is analyzed. We propose a collision avoidance motion of the mobile robot based on the results. Experiments in which a mobile robot avoids collision with a human and the human evaluates the generated motion of the robot using psychological evaluation are conducted. The effectiveness of the proposed method is clarified from psychological aspects.