a mine sweeping system including deployable horizontal antennas to establ a detection and navigation grid extending underwater from a beach to a distance offshore . a computer - controlled transmitter unit having a waveform generator and amplifier , transmits signals to each antenna , at unique frequencies and phases for different spatial locations within the grid . an autonomous underwater vehicle having multi - integrated sensors detects anomalies in the electromagnetic field caused by both magnetic and non - magnetic objects therein during underwater travel utilizing the electromagnetic field as a navigational grid . the autonomous underwater vehicle also deposits mine - clearing explosives at each magnetic anomaly for detonation under command signal using the horizontal antennas which provide a means for establishing a navigation grid to permit landing craft and other vessels to navigate in the region cleared of mines .