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The autonomous underwater vehicle mounted on the forward obstacle avoidance sonar is developed to investigate ocean environments. In order to obtain real time, high efficiency and clear acoustic images, the real-time sonar system using an acoustic lens has been studied. The propagation of sound through acoustic lenses can be modeled using either the ray-tracing, wave acoustics or a combination of both. In this paper, the sound pressure near the focal area of the acoustic lenses is studied by using the parabolic equation methods. In conclusions, the acoustic lens simulation based on wave acoustics offers a valid means for predictions in the performance of acoustic lenses before fabrication.