A Target Tracking System for ASV Collision Avoidance Based on the PDAF

Safe navigation and guidance of an autonomous surface vehicle (ASV) depends on automatic sensor fusion methods capable of discovering static and moving obstacles in the vicinity of the ASV. A key component in such a system is a method for target tracking . In this paper, we report a complete radar tracking system based on the classical probabilistic data association filter (PDAF) . The tracking system is tested on real radar data recorded in Trondheimsfjorden, Norway.

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