Defence Research and Development Canada requires a study to develop a coverage mission planner for mine countermeasures (MCM) operations. Given a specified sensor performance, environment and vehicle characteristics, the goal is to obtain a mission plan which achieves a set objective, such as a uniform probability of detection over the entire area. With the accepted operational use of side-looking sonars for MCM, particularly equipped onboard of Autonomous Underwater Vehicles (AUVs), current NATO-doctrinal mission planning algorithms designed for use with forward-looking hull-mounted sonars have been found to be unusable. While some basic "best practice" methods have been developed to aid operators with planning suitable missions, near-optimal and more importantly for the case of AUVs, adaptable mission planning methods for side-looking sonars have yet to be developed. The UNB research team conducts research and development of mission planning techniques which achieve the stated mission objective for AUVs, i.e. uniform coverage of an area to a specified probability of detection.