Precision maneuvering of underwater robot by mechanical pectoral fins

This paper describes the experimental results in the guidance and control of an underwater robot equipped with 2 pairs of the oscillating fins in water currents. The robot can be guided from a far point to an underwater post and docked with it in water currents flowing perpendicularly to the course under some circumstances. The robot also can perform an inspection task around a circular cylinder in water currents keeping the distance to the wall of the cylinder and directing the heading to the center of the cylinder to some extent