Abstract:Autonomous underwater gliders (AUG) are a class of underwater vehicles that move using a buoyancy engine and forces from wings. Gliders execute turning motion with the help of a rudder or an internal roll control mechanism and the trajectory of the turn is a spiral. This paper analyses the sensitivity of the characteristics of spiral manoeuvre on the hydrodynamic coefficients of the glider. Based on the dynamics model of a gliding fish whose turn is enabled by a rudder, the effect of hydrodynamic coefficients … Show more
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