Sonar Imaging Simulation in Real-time Obstacle Avoidance algorithm for AUV Based on Creator/Vega

Abstract

In this paper, a new approach to AUV autonomous obstacle avoidance is presented, which can be used to simulate the underwater obstacle environment, and simulates the process of AUV underwater autonomous obstacle avoidance behavior. The research is based on relevance technology and technological process of Creator modeling. The technology abroad requirement and huge application foreground in military and for civil use, because it can improve efficiency and reduce costs. The obstacle model is guided into Vega, after that, we can use the sonar simulate module to simulate imaging simulation of forwardlooking sonar system by set reasonable parameters, it can emulation really forward-looking sonar image and the obstacle information. Finally, simulation experiments show that this method is easy to computer implementation, and conform to the real obstacle avoidance based on sonar image process and display. It can be fully validated underwater autonomous obstacle avoidance algorithm.</p