Propulsion movement control using CPG for a Manta robot

Abstract

In recent years, Autonomous unmanned Underwater Vehicles (AUVs) for underwater ecology investigation attracts attention from underwater researchers. Although the conventional AUV moves underwater by some screw propellers, it generates a loud noise. Therefore, it is difficult to observe underwater ecology. In this paper, an AUV which mimics a kind of Manta of the fish is developed for underwater living body investigation. Some Central Pattern Generators (CPGs) are also proposed to generate the motion of pectoral fins for the Manta robot. The effectiveness of the proposed method is checked with numerical simulations.