Tracking multiple Autonomous Underwater Vehicles

• Tipo: Artigo em Revista Científica Internacional
• Data: 2019

Autores

José Melo (Autor) Outra; Aníbal C. Matos (Autor) FEUP

Revista

Título: Autonomous Robots

Vol. 43 Nº 1

Páginas: 1-20

ISSN: 0929-5593

Editora: Springer Nature

Indexação

ISI Web of Knowledge - 3 Citações

Scopus - 5 Citações

INSPEC

Outras Informações

ID Authenticus: 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.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 20