微小型水下机器人推进方式的比较研究

将当前国内外各种主要微小型水下机器人的推进方式分为舵桨联合操纵、仿水中生物推进、混合推进3类方式。在每类中选取典型案例并分析其推进方式的特点，归纳出各类推进方式的适用范围和应用前景。综合各种推进方式的利弊，指出柔性长鳍的波动推进方式以其低扰动、低速时稳定等特性，显示出广阔的应用前景。但柔性长鳍波动推进方式的在仿生结构上还有许多创新工作需要深入开展，以提高波动推进的效率，同时组合其它的推进方式，从而提高载体的推进能力。

Comparative Study on Propulsion Types of Small Autonomous Underwater Vehicle

The paper concludes the application scope and application prospect of various propulsion types,on the basis of selecting typical cases and analyzing the characteristics of their propulsion types.We divided various propulsion types into 3 classes:combined propulsion with rudder paddle,propulsion imitating underwater biological and hybrid propulsion.Comparatively studying the advantages and disadvantages of each propulsion type,we concluded that undulatory propulsion by a long flexible fin has wide applicatio...