Document details

A PHD filter for tracking multiple AUVs

Author(s): José Luís Melo ; Aníbal Matos

Date: 2015

Origin: INESC TEC


Description

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. © 2014 IEEE.

Document Type Conference object
Language English
Contributor(s) José Luís Melo; Aníbal Matos
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