A forward obstacle avoidance method based on 3D imaging sonar technology is presented

aiming at problem of obstacle avoidance during underwater autonomous navigation for AUV. The method detects sonar targets by using 3D imaging sonar and extracts target via sonar images processing

achieve analysis on moving status of underwater objects and predict moving track. By setting up collision area

build model for obstacle avoidance and design obstacle avoidance rules

realize AUV intelligent obstacles avoidance. With the help of the other sensors

these related modules form an entire closed-loop system which integrates the functions including object detection

object extraction

track prediction

obstacle avoidance and path regression.