An
underwater vehicle is provided to move in various orientations and directions, including
pitch,
yaw, roll, heave, surge and sway. The
underwater vehicle comprises an upper body and a
lower body, wherein both bodies are separated by two rudders. One
rudder is positioned towards the fore of the
underwater vehicle, while the other is positioned towards the aft. Each
rudder forms the basis of a propulsion
system, such that the
underwater vehicle has at least two independently controlled propulsion systems. Each propulsion
system further comprises an
elevator extending horizontally from the sides of each
rudder and a thrust generator attached to the
elevator. The
elevator and thrust generator are able to
pitch about an axis extending horizontally through the sides of the rudder, and the rudder is able to
yaw about an axis extending vertically through the top and bottom of said rudder.