Design and Hydrodynamic Experiments of a Novel All-Speed Biomimetic Rudder-Controlled Autonomous Underwater Vehicle

This paper presents a novel biomimetic rudder-controlled autonomous underwater vehicle (BRCAUV) that is capable of operating at all speed range (i.e. including high, medium, low, and even zero speeds) for both wide-area cruising and localized fine observation tasks. This AUV integrates a top rudder, a propeller, and two-degree-of-freedom (DOF) biomimetic rudder wings on both sides of the aft section, enabling it to perform various tasks in a single underwater operation. These tasks include wide-area cruising at medium to high speeds and fine observation at low and even zero speeds. The prototype is equipped with a propeller, a biomimetic dorsal fin, two pectoral fins(i.e. two-DOF biomimetic rudder wings), and a buoyancy regulation system. At medium to high speeds, the AUV utilizes a combination of the propeller and pectoral fin movements for ascent and descent. At low or zero speeds, the biomimetic pectoral fins are used for complex maneuvers such as buoyancy adjustment, roll, and pitch. This paper develops a dynamic model of the pectoral fins based on quasi-steady theory, elucidating the principles of low-speed steering. Experimental were carried out and the results validate the prototype's low-speed steering capabilities, so that new approaches were presented to enhance the maneuverability, multifunctionality, and practicality for underwater vehicles.