Towards passive station holding of autonomous underwater vehicles inspired by fish behaviour in unsteady flows

Abstract

Some species of fish are able to alter their mode of swimming to interact with naturally produced vortices; the use of these gaits reduces the energy expended by the fish. To analyse the feasibility of autonomous underwater vehicles replicating these gaits, a series of experiments are performed with unpowered rigid and flexible bodies positioned in the Kármán wake of a rigid cylinder. Simple motion capture techniques are used to capture the bodies’ lateral and upstream motion in the flow. The results demonstrate that manufactured bodies are capable of passively mimicking fish behaviours, to a limited extent. More importantly, it was concluded that while significant upstream movement was possible for a manufactured object, it was achievable irrespective of the stiffness of the material. For autonomous underwater vehicles operating in unsteady flow regimes, an ability to utilise energy-saving gaits may improve the range or operational time.