In situ AUV survey adaptation using through-the-sensor sonar data

An algorithm for the in situ adaptation of the survey route of an autonomous underwater vehicle (AUV) equipped with side-looking sonars is proposed. The algorithm immediately exploits the through-the-sensor data that is collected during the mission in order to ensure that quality data is collected everywhere in the area of interest. By introducing flexibility into the survey of the AUV, various limitations of pre-planned surveys are overcome. Experimental results demonstrate the benefit of the proposed approach in terms of higher area coverage in shorter mission times. The signal processing required by the algorithm is fast and computationally efficient such that real-time implementation is feasible. As proof, the proposed adaptive survey approach was implemented on an AUV and executed during a recent live scientific experiment at sea using real, in situ measured data. Results from this experiment are also shown.