Hybrid propeller/undulating fin propulsion for aquatic vehicles

Abstract

An apparatus and method for an unmanned underwater vehicle that utilizes at least one flexible robotic fin to provide a highly maneuverable vessel with station-keeping performance in tight spaces, close to ocean structures or missions where a low-speed or station-keeping vehicle is required. A propeller is also provided for providing the main propulsion during high-speed transition with assistance provided by the flexible robotic fin. The vehicle includes sonar and camera equipment as well as a plurality of other sensors for achieving navigation and communication functions while surveying the underwater marine environment. A system controller and motor controller are synchronized to provide deflection commands to ray elements in the flexible robotic fin to achieve particular maneuvers such as pitch, yaw, and roll in confined spaces. The commands are traveling waves that undulate the fin precisely and for station-keeping the commands are opposing wave commands that fix the vehicle at one position.