Obstacle detection method for underwater mine emergency rescue AUV

The AUV is essential for mine emergency rescue, when the mine tunnel is drowned. In order to improve the speed and safety of rescue process, it is significance to research on the obstacle detection method for underwater mine emergency rescue AUV. In this paper, an obstacle detection method for the avoidance sonar of underwater mine emergency rescue AUV is proposed. An echo detection method is introduced. And because the wall of mine tunnel may not be straightly, an extended Hough Transform is proposed. And to verify the performance of this method, the tank experiment data has been processed. The results show this method can detection the wall and obstacles effectively.