An obstacle avoidance algorithm designed for USV based on single beam sonar and fuzzy control

This paper presents an innovative obstacle avoidance method based on fuzzy control technology and Potential field method for a miniaturized and low cost USV (Unmanned Surface Vehicle), which is designed for offshore water quality testing. The micron DST sonar, a miniaturized mechanically side-scan sonar, is adopted as environmental information collection sensor, for its flexible control mode and low cost. The use of MCU (Micro Controller Unit) and android System ensure a good real-time control. We conducted a series of experiments both in swimming pool and in lake, with stationary and motive obstacles. The result shows that the method presented is suitable for the USV.