Research Of Ultrasonic Sensor Detection Model Based On Credibility Evaluation

Robot localization and mapping is the key technology to realize the autonomous navigation of mobile robot,ultrasonic sensor because of its high price has become an important method for the robot to perceive the environment,this is the current popularity of the service robot to create a favorable environment.However,in the ultrasonic sensor to measure the distance,because of the physical characteristics of the sensor,there is distance error and angle measurement error,this will seriously hinder the popularization and application of application of ultrasonic sensor and service robot.In view of the uncertainty factors in the ultrasonic testing distance and measurement direction,this paper launches the related research work,which is mainly divided into the following aspects:First of all,according to the distance and direction of the ultrasonic ranging uncertainty,construction of annular sector area shows the single ultrasonic measurement model,ultrasonic measurement data fusion method is presented based on the DSmT method,to estimate the environmental map credibility,feature extraction area measurement environment,as the next step to lay on the basis of contour recognition.Secondly,the article uses the three position measurement method to measure ambient contour,using line Hough transform and random sample consensus algorithm to detect environmental contour and circle environmental profile,data structure design of the measurement data of original ultrasonic sensor.The Kalman method is used to data fusion to obtain the initial contour of the measurement environment.Then,according to the constraint rules to meet the measurement of ultrasonic sensor in the extraction of effective ultrasonic sensor measurement data based on the preliminary outline,with the arc tangent method for environmental contour reconstruction,to further enhance the accuracy of ultrasonic sensor for detecting environmental profile.Finally,the experimental platform of ultrasonic sensor environment detection is built.The platform includes hardware design and software design.The hardware design includes ultrasonic sensor driver control circuit,software design including motor drive control program and ultrasonic detection program,data transmission program and ultrasonic measurement data processing interface.The environmental contour is constructed by the platform,and the validity of the algorithm is verified.