Motion Mode Switching of Navigation and Crawl Underwater Unmanned Vehicle Based on Star-shaped CPG

In order to improve the operational efficiency and quality of underwater robots, this paper proposes a new type of underwater robot, the navigation and crawl underwater unmanned vehicle (NCUUV), and designs a control strategy for it. NCUUV has two motion modes: swimming and crawling, and the motion controller includes the upper controller and the lower CPG network. The CPG network is a star-shaped structure composed of seven Hopf oscillators, which have two configurations: triangular and hexagonal, which control the swimming and crawling of the NCUUV, respectively. The upper controller adjusts the configuration of the CPG according to the movement needs of the NCUUV, thereby completing the free switch between swimming and crawling. The simulation results show that the motion mode switching control mechanism can make the NCUUV realize the motion mode switching stably, and the switching process is stable and reliable.