As a new kind of underwater robot, the biomimetic underwater vehicle propelled by undulatory fins has great advantages such as low noise, good maneuverability, and achieves the widespread concern of researchers. In this paper, the major research developments in propulsion mechanism and system development of biomimetic underwater vehicle with undulatory long fins were summarized in detail and some of the main issues to promote the performance were also emphatically discussed.%作为一种新型水下机器人，仿鱼长鳍波动推进水下航行器具有噪声低、机动性好等传统水下航行器无法比拟的优点，并得到相关研究人员的广泛关注。本文主要介绍了国内外在仿鱼长鳍波动推进水下航行器推进机理和系统研制方面开展的主要研究工作，在此基础上，分析总结了提升仿鱼长鳍波动推进水下航行器性能需要深入讨论和研究的一些问题。
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