Improvement of Strong Tracking UKF-SLAM Approach using Three-position Ultrasonic Detection

As for the uncertainty problem of detection and estimation of robot localization and mapping using ultrasonic sensor, this paper proposes the improvement of Strong Tracking UKF-SLAM approach using three-position ultrasonic detection. A three-position ultrasonic detection model is first of all built for reducing these uncertainties through topological relationship screening and environmental contour estimation. Then Strong Tracking UKF-SLAM approach is improved by using multiple fade factors to fuse the ultrasonic measurement data and motion model information of robot for obtaining more accurate localization and mapping. Finally, we construct simulation and indoor experimental environments and design the mobile robot system with ultrasonic sensor for verification. The simulation represents that the improved algorithm has less error and more accurate effect than original algorithms in localization and mapping of mobile robot. The indoor environmental experiment is performed for illustrating the feasibility and effectiveness of the proposed method. The proposed method has certain reference value for research of Simultaneous Localization and Mapping.