Forward-Looking Sonar Target Tracking and Homing From a Small AIV

Neutralization of hazardous obstacles and targets in coastal areas is a labor intensive, dangerous task for human divers. Automated detection, tracking, and classification of bottom and volume targets from autonomous underwater vehicles (AUV) will enable remote neutralization of hazardous objects in much less time than current operations. In order to meet tight power and processing constraints, detection, tracking, and classification algorithms must be fast enough to execute on small onboard computers. This paper describes a real-time algorithm for tracking and homing on volume targets for a small AUV. The algorithm was implemented onboard a Nekton 4 7/8 in. diameter AUV outfitted with a blazed array forward-looking sonar. Performance results of the algorithm in off-line bench tests and from a field demonstration at AUVfest in Keyport, WA are presented