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We seek to rigorously evaluate the benefit of using a few beams rather than asingle beam for a low-cost obstacle avoidance sonar for small AUVs. For a smalllow-cost AUV, the complexity, cost, and volume required for a multi-beamforward looking sonar are prohibitive. In contrast, a single-beam system isrelatively easy to integrate into a small AUV, but does not provide theperformance of a multi-beam solution. To better understand this trade-off, weseek to rigorously quantify the improvement with respect to obstacle avoidanceperformance of adding just a few beams to a single-beam forward looking sonarrelative to the performance of the single-beam system. Our work fundamentallysupports the goal of using small low-cost AUV systems in cluttered andunstructured environments. Specifically, we investigate the benefit ofincorporating a port and starboard beam to a single-beam sonar system forcollision avoidance. A methodology for collision avoidance is developed toobtain a fair comparison between a single-beam and multi-beam system,explicitly incorporating the geometry of the beam patterns from forward-lookingsonars with large beam angles, and simulated using a high-fidelityrepresentation of acoustic signal propagation.

Evaluating the Benefit of Using Multiple Low-Cost Forward-Looking Sonar Beams for Collision Avoidance in Small AUVs