Development of biology-inspired autonomous underwater Vehicle "BASS III" with high maneuverability

Abstract

This paper deals with (1) development of a three-motor-driven mechanical pectoral fin (3MDMPF) and its hydroynamic characteristics and (2) development of an autonomous underwater vehicle equipped with the pair of 3MDMPFs named "BASS III" and its swimming performance. Flapping motion 3MDMPF can produce is effective in increasing the thrust force. BASS III has high maneuverability such as ascending and descending both in forward and backward directions, turning at almost same point and lateral swimming.