The Cetus UUV/EOD robotic work package: a low-cost shallow-water UUV system for underwater search and intervention

The Explosive Ordnance Disposal Robotic Work Package (EODRWP) Program developed and demonstrated a number of capabilities supporting teleautonomous ordnance detection and intervention using small Unmanned Underwater Vehicles (UUVs). The advanced technologies underlying these capabilities include situationally reactive intelligent mission control, parallel processing-based sonar sensor data processing which supports a dynamic classification capability, precise inertially aided subsea navigation and positioning, and vehicle closed-loop control as a compact vehicle independent subsystem. A Deep Ocean Engineering HVS4 ROV was employed as a subsea testbed platform supporting in-ocean testing prior to final demonstration and delivery. While the use of a tether facilitated the development and testing of new technologies, a number of serious technical and operational issues are attributable to the ROV when deployed in the open ocean environment or under operational conditions. Having completed a significant amount of development using the HVS4, and recognizing the shortcomings of the ROV testbed, Lockheed-Martin funded the development of Cetus, a hover-capable Autonomous Underwater Vehicle. The Cetus defines a new class of low-cost vehicle systems intended for shallow water work. The Cetus vehicle will provide a stable sensor bearing platform for the employment of forward looking video cameras and lights, compact forward-looking sonars, compact side-looking sonars, downward looking video camera and lights, magnetometers and other sensors. This paper describes the autonomous Cetus testbed system and details the application of the EODRWP´s control and sensing capabilities and mission specific Reson 6012 “SeaBat” electronically scanned SONAR search sensor in a demonstration in a search, visit, and return mission. Facilitation of semiautonomous operation of Cetus and the EODRWP using a low-rate acoustic modem for command and telemetry will be described. The paper concludes with planned new efforts in search and inspection by complimentary UUV assets