In recent years, underwater robots have been an essential focus of marine science and technology applications. Whether it is the application of military tasks or general civil affairs, underwater robots have played a significant role. For example, unmanned underwater vehicles (UUVs) can work in the sea for a long time, have high maneuverability, and perform various underwater tasks. There are many subcategories of UUVs, such as autonomous underwater vehicles (AUVs), remotely operated vehicles (ROVs), and autonomous and remotely operated vehicles (ARVs) (Kong et al., 2020).