A PHD Filter for Tracking Multiple AUVs

• Type: Article in International Conference Proceedings Book
• Date: 2014

Authors

Melo, J (Author) Other; Aníbal Castilho Coimbra de Matos (Author) FEUP

Conference proceedings International

Title: 2014 Oceans - St. John's, OCEANS 2014

2014 Oceans - St. John's, OCEANS 2014

14 September 2014 through 19 September 2014

Indexing

ISI Web of Knowledge - 0 Citations

Scopus - 1 Citation

Other information

Authenticus ID: P-00A-8YV

DOI: 10.1109/oceans.2014.7003170

Abstract (EN): In this paper we address the problem of tracking multiple AUVs using acoustic signals. Using For this challenging scenario, we propose to use a Probability Hypothesis Density Filter and present a suitable implementation of the Sequential Monte Carlo PHD filter. It will be demonstrated that a particle filter implementation of the aforementioned filter can be used to successfully track multiple AUVs, changing in number over time, using range measurements from the vehicles to a set of acoustic beacons. Simulation results will be presented that allow to evaluate the performance of the filter.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 8