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.