A Survey on Bionic Autonomous Underwater Vehicles Propelledby Median and/or Paired Fin Mode

The median and/or paired fin (MPF) mode and the body and/or caudal fin (BCF) mode are the two commonly used propulsion modes of the bionic autonomous underwater vehicles (AUVs). Thereinto, the bionic AUVs with the MPF mode have some advantages over those with the BCF mode. Firstly, this paper contrasts the two propulsion modes in the aspects of propulsion mechanism, swimming speed, propulsion efficiency, maneuverability and swimming stability. Then the bionic AUVs with the MPF mode are divided into three categories, i.e., multi-fin oscillating, pectoral-fin flapping or/and gliding, and long-fin undulating. Subsequently, the three categories are surveyed in detail respectively, including the current status at home and abroad. Then the swimming performance, the drive types, the number of drives, and the design of the propulsion fins and the body housing are analyzed and discussed. Finally, the existing problems of the AUVs with the MPF mode are described and summarized, and the key emphasis of the future work for the AUVs is prospected.