Title:

Pitch and Heading Control of Biomimetic Robotic Fish

Achieving effective underwater object detection and classification requires strategically placed, high-performance sensors. To expand beyond the limitations of a static array, biomimetic Uncrewed Underwater Vehicles (UUVs) can unobtrusively orient position and orientation to obtain a 3D vantage point. Precise Angle of Attack (AoA) control is essential on these vehicles for accurate detection and classification of objects varying in size and position. A dynamic numerical model was created to estimate orientation angles in pitch and yaw, making up the vehicle's AoA. This simulation was verified experimentally, and control techniques are beginning to be implemented on the experimental platform and in the simulation environment.

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