The comprehensive test tank is the main experimental research facility of the key laboratory of underwater robot technology of Harbin Engineering University. The laboratory building is rectangular shaped and has two floors: the first floor for test model preparation, and the second for tank tests. The tank is a deep water basin equipped with X-Y carrier, multi-directional wave-making system, and localized flow generator. The tank is also designed for seakeeping, maneuvering, and ocean engineering tests. In addition, the tank can also be used as the debugging environment for control, collision avoidance, planning, operation, and special maneuvering of underwater vehicles.