A particle filter approach for AUV localization

Francesco Maurelli, Szymon Krupińskiy, Yvan Petillot, Joaquim Salviz

Research output: Chapter in Book/Report/Conference proceedingConference contribution

35 Citations (Scopus)


This paper presents a sonar-based localization approach for an autonomous underwater vehicle, in structured and unstructured environments. The system is based on a particle filter approach to represent the vehicle state and it uses a mechanically scanned profiling sonar, acquiring range profiles. A modification to the standard particle filter algorithm is proposed, in order to explore the state space in a more effective way and to reduce computational complexity. The proposed system was validated both in simulation and in trials involving a real vehicle, showing a high robustness and real-time capabilities. © 2008 IEEE.

Original languageEnglish
Title of host publicationOCEANS 2008
Publication statusPublished - 2008
EventOCEANS 2008 - Quebec City, QC, Canada
Duration: 15 Sept 200818 Sept 2008


ConferenceOCEANS 2008
CityQuebec City, QC


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