Tracking multiple Autonomous Underwater Vehicles

• Type: Article in International Scientific Journal
• Date: 2019

Authors

José Melo (Author) Other; Aníbal C. Matos (Author) FEUP

Journal

Title: Autonomous Robots

Vol. 43 No. 1

Pages: 1-20

ISSN: 0929-5593

Publisher: Springer Nature

Indexing

ISI Web of Knowledge - 3 Citations

Scopus - 5 Citations

INSPEC

Other information

Authenticus ID: P-00N-JJ8

DOI: 10.1007/s10514-018-9696-7

Abstract (EN): In this paper we present a novel method for the acoustic tracking of multiple Autonomous Underwater Vehicles. While the problem of tracking a single moving vehicle has been addressed in the literature, tracking multiple vehicles is a problem that has been overlooked, mostly due to the inherent difficulties on data association with traditional acoustic localization networks. The proposed approach is based on a Probability Hypothesis Density Filter, thus overcoming the data association problem. Our tracker is able not only to successfully estimate the positions of the vehicles, but also their velocities. Moreover, the tracker estimates are labelled, thus providing a way to establish track continuity of the targets. Using real word data, our method is experimentally validated and the performance of the tracker is evaluated.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 20