AUV Propulsion and Maneuvering by Means of Asymmetric Thrust

We present an Asymmetric Propulsion System (APS) capable of generating both forward thrust and a lateral turning moment by means of a single-bladed propeller [1]. At constant rotational speeds, forward thrust is provided in the same manner as a symmetrical multi-bladed propeller. By varying the instantaneous rotational speed throughout each revolution, an off-axis thrust bias can be generated. We demonstrate how this can be used to control and maneuver an underwater robot and discuss its advantages and applications to autonomous underwater vehicle (AUV) design and operation.