Automatic object detection and diagnosis for AUV operation using underwater imaging sonar

This paper presents the development of underwater sonar imaging to support the command, control and navigation of an AUV within a shallow milky-water environment. The aim of this study was to test an innovative methodology which uses underwater imaging sonar to detect underwater objects surrounding the AUV and determine their locations and movement including motion directions and speeds relative to the AUV. Several underwater laboratory based trials have been conducted. The successful result shows the presented methodology is promising.