Motion Trajectory Design for Underwater Gliders Inspired by Brachistochrone
As an ocean exploration platform with low energy consumption,underwater glider has received wide attention in recent years.With the maturity of the glider technology,its application scenarios continue to expand.For the underwater fixed-point exploration mission of the glider,the novel design scheme of motion trajectory,inspired by the block driving principle of brachistochrone problem,is studied.In the shallow water area with the higher current intensity,the glider adjusts its net buoyancy to a larger value,which will make the glider obtain the larger velocity to quickly pass through this area and ensure the motion accuracy.In the deep water area with the smaller current intensity,the glider adjusts its net buoyancy to a smaller value and changes the position of movable mass block to reduce the pitch angle and obtain the sufficient horizontal displacement.On this basis,the glider control parameter optimization to determine the optimal trajectory design scheme is executed by using dynamic model and Non-dominated sorting genetic algorithm Ⅱ.The optimization objective is to minimize the position error and energy consumption of the glider reaching the target exploration area,and the constraint condition is that the position error and motion time do not exceed their allowable values.The Petrel-Ⅱ glider is taken as the research object to carry out the simulation research,and the numerical examples illustrate that the proposed trajectory design scheme is more suitable for underwater fixed-point exploration mission than the conventional glider operation mode.
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