Hydrodynamic and Maneuvering Control of an Underwater Vessel with Undulating-Fin Propulsion

Undulating-fin propulsion, consisting of an elongated membrane to generate multi-directional thrust, can enhance the mobility and station keeping capabilities of an underwater vessel. Fish with this propulsion mechanism are able to maneuver in multiple directions, including forward, backward, rapid reverse, upward, forward-lateral and steady positioning. However, lack of adequate platform to explore the potential has restrained the use of the undulating fin propulsion for underwater vessels. In this work, we study the hydrodynamics and turning control of a robotic vessel equipped with a single undulating fin running along the length of the robot. We present hydrodynamic characterization and maneuvering control scheme to predict forces, torques and motion. As a first approach, we focus on control of horizontal maneuvering, comprising of surge, sway and yaw motion.