Fish navigate a hydrodynamic maze via yaw-mediated lateral migration

In aquatic environments, gradients in flow velocity and turbulence define a constantly shifting landscape that sets the physical constraints on propulsion and energy expenditure in fish. Successfully navigating these complex flows depends on the ability to sense and respond to subtle hydrodynamic cues in an energy-efficient manner. Revealing these mechanisms is central to understanding how fish identify and exploit favorable flow conditions. To this end, we designed a hydrodynamic maze with spatially varying mean flow and turbulence, creating a controlled heterogeneous flow landscape for understanding fish movement strategies. We found that fish escape energetically unfavorable regions by yawing their bodies relative to the flow. These yawed orientations appear to facilitate lateral migration through lift forces and may improve sensitivity to local flow variations. Notably, fish maintain body orientations near, but below, predicted stall conditions to exploit lift without a significant increase in drag. These findings provide insight into how fish navigate heterogeneous hydrodynamic environments, with potential relevance for both natural and engineered flow systems.