Nowadays,how to enhance the maneuverability of autonomous underwater vehicles(AUVs) is an important issue in the domain of international navigation in that most AUVs just have a single function of underwater navigation or submarine movement,while the design of thrusters is the key of solving the problem.The multi-moving state autonomous underwater vehicle in this paper can achieve four functions,such as wheels,legs,thrust,and course control depend on the characteristics of spatial deflexion and continual circumgyratetion of the flexible transmission shaft.A new wheel propeller for the multi-moving state autonomous underwater vehicle is presented through analyzing the mechanical characteristics of the ducted propeller and the contracted and loaded tip(CLT) propeller.Then the computational fluid dynamics(CFD) method is used to simulate numerically different propellers open-water performance by using the Reynolds-averaged Navier-Stokes(RANS) equations and Reynolds stress model(RSM) based on sub-domains hybrid meshes.The predicted thrust coefficients,torque coefficients and pressure of the propellers agree well with the experimental data of their open-water performance.The good consistency shows that the numerical method has good accuracy in the prediction of propeller open-water performance,which guides to design the wheel propeller.Moreover,for the sake of ensuring the security and stability of the AUV when it is moving on the ground,finite element method is used to simulate numerically the intensity and vibration characteristics.The proposed final wheel propeller D4-70(WPD4-70) has preferable open-water performance and intensity characteristics,which can realize the agile maneuverability of the multi-moving state autonomous underwater vehicle. Nowadays, how to enhance the maneuverability of autonomous underwater vehicles (AUVs) is an important issue in the domain of international navigation in that most AUVs just have a single function of underwater navigation or submarine movement, while the design of thrusters is the key of solving the problem. The multi-moving state autonomous underwater vehicle in this paper can achieve four functions, such as wheels, legs, thrust, and course control depend on the characteristics of spatial deflexion and continual circumvention of the flexible transmission shaft. A new wheel propeller for the multi-moving state autonomous underwater vehicle is presented through analyzing the mechanical characteristics of the ducted propeller and the contracted and loaded tip (CLT) propeller.Then the computational fluid dynamics (CFD) method is used to simulate numerically different propellers open-water performance by using the Reynolds-averaged Navier-Stokes (RANS) equations and Reynolds stress model (RSM) based on sub-domains hybrid meshes. The predicted thrust coefficients, torque coefficients and pressure of the propellers agree well with the experimental data of their open-water performance. good consistency shows that the numerical method has good accuracy in the prediction of propeller open- water performance, which guides to design the wheel propeller. Moreover, for the sake of ensuring the security and stability of the AUV when it is moving on the ground, finite element method is used to simulate numerically the intensity and vibration characteristics. proposed final wheel propeller D4-70 (WPD4-70) has preferable open-water performance and intensity characteristics, which can realize the agile maneuverability of the multi-moving state autonomous underwater vehicle.