Hybrid propeller/undulating fin propulsion for aquatic vehicles

A method for maneuvering an unmanned underwater vehicle in tight spaces, close to ocean structures, or missions where a low-speed or station keeping function is necessary, said method comprising:

• providing a hydrodynamically-shaped hull with at least one robotic fin positioned on an external surface of said hull, said at least one robotic fin comprising a stretchable membrane that is flexible such that portions of the at least one robotic fin can undulate to cause said hull to pitch, yaw, or roll in a confined underwater space, and a plurality of rays embedded within and supporting the stretchable membrane;
• providing said hull with a sonar device for detecting underwater objects proximate to said vehicle;
• coupling said sonar device to a controller within said hull for providing said controller with data regarding objects in the vicinity of said vehicle;
• and
• commanding said at least one robotic fin using at least one traveling sinusoidal wave, by said controller, to undulate said at least one robotic fin and maneuver said vehicle in the confined underwater space.