A Novel Method of Rapid Pitch of Cownose-ray AUV

Bionic Autonomous Underwater Vehicles (BAUV) have the advantages of high efficiency, high mobility and high stealth, which have attracted more and more attention in ocean investigation and military reconnaissance. Fast pitch mobility is important for BAUV to launch from the bottom of the sea or avoid obstacles quickly. The paper aims to imitate the cownose ray to make a Cownose-ray AUV to accomplish rapid pitch motions using central pattern generator (CPG) algorithm. The experiment results indicate that the Cownose-ray AUV can realize fast pitch from the bottom of the water tank at zero forward speed and change the pitch angle from 0° to 75° during 10s.