The invention discloses a multifunctional AUV based on a bionic lateral line, sensors are welded on a PCB circuit board and embedded in a carrier casing, a front head cabin, a main body cabin and a tail part are in streamlined head-tail sequential connection, sensor holes showing as the bionic lateral line are evenly distributed on the front head cabin and the main body cabin, the rear ends of both sides of the main body cabin are provided with steering engines, the end parts of the steering engines are connected with propellers, the end parts, far away from the front head cabin, of the propellers are provided with guiding covers, the terminal end of the main body cabin is provided with the tail part, and the tail part is a streamlined fish tail structure. Pressure data is obtained by the sensors which are arranged like the bionic lateral line, and during velocity measurement, a carrier directly faces the flow direction, and can correctly estimate local velocity. The AUV can determine direction and a path of a vibration source by sensing pressure gradients and changes so as to realize underwater positioning or obstacle avoidance. The multifunctional AUV has the advantages of small size and low cost, improves efficiency of identification and intelligentization of underwater equipment, and provides theoretical and data support for flow velocity measurement, underwater positioning and obstacle avoidance.