Distribution of guidance, navigation, and control functionality in the explosive ordnance disposal autonomous underwater vehicle robotic work packages program

The Explosive Ordnance Disposal Autonomous Underwater Vehicle Robotic Work Packages Program has developed a unique distribution of guidance, navigation, and control functions which facilitates the autonomous operation of small multi-thrustered unmanned underwater vehicles maintaining portability across various platforms which supply varying navigation information and employ differing control regimes. The unique distribution of these functions and shared mode-directed access to sensor information between a subsumptive mission function executive processor and a dedicated high-rate vehicle control processor is detailed. The implementation of the rare navigation component suite, including three-axis motion reference unit, compass, depth sensor and a long-baseline acoustic positioning system and its interaction with the guidance algorithms and control system is described. The relative positioning information from an ahead looking sonar to support sensor-based servoing in the reacquisition and inspection of an object is included