Navigation algorithm for autonomous underwater vehicle considering cruising mission using a side scanning SONAR in disturbance

Introduction of an AUV (autonomous underwater vehicle) equipped with a side scanning sonar is anticipated for the survey to get high resolution image of the seabed in the water current This paper proposes a new navigation algorithm which consists of behavior-based module and path planning module for this purpose. By the behavior based module, the AUV can avoid collision with unknown obstacles and keep constant altitude close to the seabed. The path planning module generates a suitable path that can safely sweep the whole seabed in the mission area. If the water current condition changes during the mission, the proposed path planning algorithm recalculates a new path line which is suitable for the new condition. Simulation result shows that the proposed algorithm is suitable for such a mission taking images of an underwater hill where the water current is not negligible