Two layers obstacle avoidance algorithm for Autonomous Underwater Vehicle

Autonomous Underwater Vehicles (AUVs) operate in unknown underwater environments and take decisions based on sensor readings, without any link with a human operator. It is critical for the AUVs to be able to avoid submerged obstacles such as cliffs, wrecks and floating mines to improve vehicle survivability. In this study obstacle avoidance algorithm that combining pre-planning and reactive techniques is presented. The approach uses forward looking sonar with image processing for obstacle detection. So it can be used as a logic sensor. The proposed algorithms are focused on horizontal plane obstacle detection and avoidance.