Study on the vertical motion characteristics of disc-type underwater gliders with zero pitch angle

Improved RRT Algorithms to Solve Path Planning of Multi-Glider in Time-Varying Ocean Currents

“…Based on previous research [36] and sea trial of the prototype glider. In the forced surging test, the additional mass A 11 can be determined.…”

“…The gliders can adjust and control their own moving and turning in any direction, and can respond to change of direction in a short time. For these omnidirectional UGs, motion ability and control equation are shown in Fig.2[36].…”

Analysis of the In Situ Steering Motion Characteristics and Sensitivity of Disc-Type Underwater Gliders

“…As shown in Figure 7b, there are two steps for DTUG to complete the in situ steering motion: The pitch motion and steering motion. As one of the typical motions of the UG, the pitch motion has good stability, and the highly symmetrical full-wing shape of the DTUG is also conducive to improving its stability [17]. Thus, the stability of steering motion after DTUG's pitch motion is mainly analyzed in this section based on the Lyapunov stability theory [25,44].…”

“…The corresponding linear velocities (u, v, and w) in the body frame are also zero. The DTUG state parameters can be set as {u, v, w} = {0, 0, 0}, and the dynamic model of the in situ steering motion be simplified from Equation (17), as shown in Equation (20). The global sensitivity analysis, local sensitivity analysis, and the in situ steering motion simulation can be used to guide the DTUG to select the most appropriate combination of control parameters in the in situ steering motion to meet the requirements of different environments and different tasks.…”

“…The corresponding linear velocities (u, v, and w) in the body frame are also zero. The DTUG state parameters can be set as {u, v, w} = {0, 0, 0}, and the dynamic model of the in situ steering motion be simplified from Equation (17), as shown in Equation (20).…”