Path Planning Method of Underwater Glider Based on Energy Consumption Model in Current Environment

Abstract

Abstract. It is generally considered that the speed of underwater glider is the function of buoyancy and gliding angle. However, the buoyancy and gliding angle are adjustable, which makes the speed of underwater glider within an adjustable range, however, it is usually taken as a constant in current documentations. Considering the path planning in ocean currents, if the maximum speed of a glider can find a path that connects the start point and the target point, then it can decrease its consumption by adjusting its speed in current field of some regions to fit the favorable currents and overcome the influence of adverse currents. Based on the above facts, the paper presents a new path planning method of adjustable speed glider in currents, and the simulation result is shown. According to the result: compared with the path planning method in constant speed, the adjustable speed glider can utilize the current in a better way and save the consumption of energy in a further way.

Energy Consumption Modeling and Sensitivity Analysis for Deep-Argo Otarriinae Profiling Float

“…Zhou presented a new Constant-Time Surfacing A * algorithmbased iterative path planning algorithm to address underwater glider with variable speeds which can maximize the usage of the favourable currents. From the simulation of hyperbolic currents field, the novel variable speed scheme can get a path with lesser energy cost compared with constant speed [17]. Kelasidi investigated the power consumption of different underwater robotic systems and compared the energy efficiency of different robots depending on the desired motion.…”

Coordinate Control, Motion Optimization and Sea Experiment of a Fleet of Petrel-II Gliders

“…Yu et al [29] developed a computational method to extend glider endurance by optimizing gliding motion parameters and sensor scheduling based on an energy consumption model. Zhou et al [30] presented an optimal energy consumption method with adjustable speed of glider to achieve path planning. The energy consumption model and analysis focused on traditional glider form literature, the model of HUG is urge to research.…”

“…Compared with the method in GCCS, different types of APFs are constructed in the path planning model and an energy consumption model of hybrid underwater glider is established based on the concept of Refs. [29,30] to optimize motion efficiency. The existence of ocean flow is taken into consideration in the coordinate control system.…”

“…In this article, based on the main concept in the Refs. [29,30,38], an energy consumption model of the screw propeller driven hybrid underwater glider is established under the following assumptions:…”

“…The method [29,30,38] that finds the relationship between the motion parameters (gliding angle, diving depth, etc.) and the energy cost of the subsystem by analyzing the glider operation principle and control flow, can simplify the complication of the question and give a practical expression.…”