I. Introduction
There has been an increasing demand for sustainable ocean resource exploitation over the past decade, accelerating the development of autonomous underwater vehicles (AUVs) [1]. Traditional torpedo-shaped AUVs [2], designed for efficient straight-line movement, exhibit limitations in lateral maneuvers and slow-speed control, constraining their effectiveness in complex tasks. While enhancements such as variable wings [3] and counter-rotating blades [4] have improved performance in specific scenarios, they remain inadequate for high-mobility tasks.