Combined hydrodynamic and control analysis on optimal kinematic parameters for bio-inspired autonomous underwater vehicle manoeuvring

To investigate the manoeuvring performance of a body-caudal fin robot fish, numerical framework combining computational fluid dynamics and multi-body with closed-loop control algorithm was established in this study. Within framework, we modelled swimmer as system shape NACA0012 hydrofoil. The investigated by using different curvature magnitudes distributions along centre line (the is defined means envelop function part general body undulation equation). characterize turning performance, new parameter named cost (CoM) proposed. This provides combined assessment radius, linear angular velocity components, power. It found that when introduced, switches from straight-line swimming to quasi-steady at constant speed. Further investigations were conducted study contributions head tail deformations on comparing predominantly curved envelopes. Results reveal tail-dominated envelope improves whereas head-dominated has negative effect.