Obstacle avoidance for AUVs

This thesis describes a general three-dimensional Obstacle Avoidance approach for the Autonomous Underwater Vehicle (AUV) using a forward-looking high-frequency active sonar system. This approach takes into account obstacle distance and AUV speed to determine the vehicle's heading, depth and speed. Fuzzy logic has been used to avoid the abrupt turn of the AUV in the presence of obstacles so that the vehicle can maneuver smoothly in the underwater environment. This approach has been implemented as an important part of the overall AUV software system. Using this approach, multiple objects could be differentiated automatically by the program through analyzing the sonar returns. The current vehicle state and the path of navigation of the AUV are self-adjusted depending on the location of the obstacles that are detected. A minimum safety distance is always maintained between the AUV and any object. Extensive testing of the program has been performed using several simulated AUV on-board systems undergoing different types of missions.