Forward-looking sonar target tracking and homing from a small AUV

Neutralization of hazardous obstacles and target 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 powe and processing constraints detection tracking, and classification algorithms must be fast'enough to execute on small onboard computers. This paper describes areaIntinte algorithm, for tracking and homing on volume targets for a small IAUV. 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-Jine bench tests and from a field demonstration at AUVfest in Keyport, WA are presented.