This paper proposes the concept of a sub-parent AUV to address the specific requirements of load capacity, response speed and multi-body coordination in scenarios such as underwater search and rescue, wartime defense and dense attacks.

A high payload-to-weight ratio internal payload carrying system is designed for a sub-parent AUV. Additionally, a novel ejection method and multi-load deployment approach based on multi-point combination propulsion are proposed. Furthermore, a cage-style suspension system suitable for payload deployment and a multi-load sequencing mechanism are designed. The performance of the proposed design is evaluated through a series of tests conducted in both indoor laboratory and open lake environments.

The results demonstrate that the sub AUV (payload) successfully exits the compartment within 0.2 seconds and separates from the parent AUV after 0.5 seconds of attitude adjustment. Six sub AUVs safely separate from the parent AUV within 30 seconds, with minimal impact on the parent AUV caused by payload deployment.

The feasibility and reliability of the novel AUV concept are demonstrated, showcasing its capability to achieve safe and reliable multi-load deployment.