FORWARD-LOOKING SONAR SIMULATION MODEL FOR ROBOTIC APPLICATIONS

Underwater simulators are less common due to the complexity of underwater acoustics. Simulation is an effective tool for rapid testing of autonomous vehicles and complements the test and evaluation process. The goal of this thesis is to present a computationally efficient forward-looking sonar simulation model for robotic applications. A model for a single sonar beam is developed using a point-scattering model, applying both Fourier synthesis and a correction for beam forming. The single sonar beams are concatenated to simulate a forward-looking sonar system field of view. The result is a sonar simulation model that can be used in the established ROS Gazebo robotic framework as a tool for effective testing of autonomous underwater vehicles. Future improvements in the acoustics of the sonar model include the addition of reverberation, multi-path propagation, and interference. Lieutenant, United States Navy Approved for public release. distribution is unlimited