Research on the DSmT based model of the ultrasonic sensor detection for indoor environment contour

Due to the existence of the ultrasonic sensor distance error and angle error causing environment contour detection uncertainty, the ultrasonic distance measurement mode based on the foundation of the uncertainty representation was firstly proposed and the data uncertainty of ultrasonic measurement was reduced by the Dezert-Smarandache Theory (DSmT). Then Hough transform and random sample consensus algorithm are employed to identify the data fusion results to obtain environmental contour information. Finally, the experiment of ultrasonic sensors scanning the indoor environment are performed, and the contours information of indoor environment obtained by using the proposed method is consistent with the size of true environment. This result validly illustrates the feasibility and effectiveness of the proposed method. The proposed method has certain reference value for studying the localization and environment map detection of the mobile robot by using ultrasonic sensor.