A novel method of rapid pitch of Cownose-ray AUV

Yong Cao, Jingyi Bai, Yiwei Hao, Ya Zhang, Guang Pan

Research output: Chapter in Book/Report/Conference proceedingConference contribution book

1 Citation (Scopus)


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 degrees to 75 degrees during 10s.
Original languageEnglish
Title of host publicationGlobal Oceans 2020
Subtitle of host publicationSingapore – U.S. Gulf Coast
Place of PublicationPiscataway, NJ
Number of pages5
ISBN (Electronic)9781728154466
ISBN (Print)9781728184098
Publication statusPublished - 9 Apr 2021

Publication series

Name2020 Global Oceans 2020: Singapore - U.S. Gulf Coast


  • bionic autonomous underwater vehicle
  • Cownose-ray
  • rapid pitch control
  • central pattern generator


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