This paper presents an innovative approach to path-planning for Autonomous Underwater Vehicles (AUVs) in complex underwater environments, leveraging single-beam sonar data. Recognizing the limitations of traditional sonar systems in providing detailed environmental data, we introduce a method to effectively utilize Ping360 sonar scans for obstacle detection and avoidance. Our research addresses the challenges posed by dynamic underwater currents and obstacle unpredictability, incorporating environmental factors su…