An Obstacle Avoidance Algorithm for AUV Based on Obstacle's Detected Outline

A novel obstacle avoidance strategy is proposed for autonomous underwater vehicle (AUV) in unknown underwater environment according to detected outline of avoidance. The obstacle's outline avoidance algorithm (OOA) is adapt to irregular obstacles which is used in detouring obstacles according their outline detected by forward looking sonar (FLS). The largest polar angle algorithm (LPA) is used to produce avoidances' outline by changing detected irregular obstacle into convex polygon, which simplifies the obstacle avoidance process. Finally, simulations are carried out to demonstrate the performance of the strategy, where the obtained obstacle avoidance path is optimal or sub-optimal for AUV moving in unknown environment.