DSmT based Detection Model of the Ultrasonic Sensor for Estimating Indoor Environment Contour

In view of the uncertainty of ranging and direction angle in the ultrasonic sensor measurement, an ultrasonic distance detection model based on uncertainty region is first of all proposed through analyzing the working principle of the ultrasonic sensor. Moreover, the DSmT method is adopted to fuse the uncertainty data measured by using the ultrasonic sensor. Next, the Hough Transform and the least-square method are combined to estimate environmental contour. Finally, an indoor environment is measured and built by using the ultrasonic sensor hardware system for experimental verification. The environmental contour obtained in the experimental results is consistent with the real environment, which illustrates the feasibility and effectiveness of the proposed method. This proposed method has certain reference value for the research of the environmental mapping and positioning of the mobile robot.