Avoiding obstacles is an essential element of most small-diameter autonomous underwater vehicle missions, though specific obstacle avoidance requirements for different missions vary widely. Obstacle avoidance is one of the most important safety considerations for many missions, and designing an optimal avoidance system for a given mission deserves careful consideration. This paper attempts to give an overview of design options for obstacle avoidance systems. Obstacle avoidance sensor characteristics are examined, including processing techniques for generating obstacle data. The paper then examines obstacle avoidance algorithms and behavior system design, the systems that use the obstacle data to avoid obstacles within the context of a larger mission. Finally, recommendations are made for optimal obstacle avoidance systems for several important AUV missions.
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