Modeling and Simulation of Motion of an Underwater Robot Glider for Shallow-water Ocean Applications

Authors: Chen Wang, Amir Anvar

Abstract:

This paper describes the modeling and simulation of an underwater robot glider used in the shallow-water environment. We followed the Equations of motion derived by [2] and simplified dynamic Equations of motion of an underwater glider according to our underwater glider. A simulation code is built and operated in the MATLAB Simulink environment so that we can make improvements to our testing glider design. It may be also used to validate a robot glider design.

Keywords: AUV, underwater glider, robot, modeling, simulation.

Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1074938

References:

[1] Davis, R, Eriksen, C, & Jones, C 2002, ÔÇÿAutonomous Buoyancy-Driven Underwater Gliders-, Scripps Institution of Oceanography, USA, accessed 10/04/2012, < http://www.ifremer.fr/lpo/gliders/donnees_tt/references/techno/4Gliders. pdf >
[2] Graver, JG 2005, ÔÇÿUnderwater Gliders: Dynamics, Control and Design-, Princeton University, USA
[3] Graver, JG, Bachmayer, R, Leonard, NE, and Fratantoni, DM 2003, ÔÇÿUnderwater Glider Model Parameter Identification-, Proc. 13th Int. Symposium. on Unmanned Untethered Submersible Technology (UUST), USA.
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