Bridging XLUUV and MASS - Technologies for Autonomous Multi-Domain Operations

Abstract

The development of extra-large unmanned underwater vehicles (XLUUV) has made significant progress. In that context, the paper describes firstly the evolution of the innovative technological vehicle basis MUM (Modifiable Underwater Mothership). A MUM full scale demonstrator of 25 meters length has been developed and is currently in production. MUM has been designed to be operated autonomously. This includes both the execution of mission-specific tasks as well as transit (surfaced and submerged) and port operations. In order to achieve a successful system realization, situation awareness capabilities and safe autonomous navigation become mandatory, requiring specific technologies that bridge XLUUV and MASS. This connection to MASS is shown by explaining the developments in the areas of maneuverability and automated vehicle guidance as well as reliable environmental perception, which are essential for the realization of vehicle autonomy, especially in surface operation. On the one hand, the article describes the methods for designing the MUM demonstrator's actuator configuration and maneuvering system ensuring the necessary maneuvering capabilities and, on the other hand, outlines the selection process for optical sensor systems and AI-based evaluation methods in a dynamic maritime environment enabling reliable obstacle avoidance on the XLUUV. The study concludes with simulations of the performance of the maneuvering system of the MUM demonstrator configuration and the results of the implemented visual perception system using recorded sensor data in a port scenario.