Investigation of Multiple Buoyancy Controller Equipped Underwater Glider Robot Modeling for Control System Development and Gliding Simulation

Abstract

This paper discusses the development of a model for an underwater glider robot equipped with multiple buoyancy controllers aimed at environmental surveying of lakes. Primary target of the model is performing 2D simulation of actual gliding that will lead to control system development. This proves to be a challenge as gliding requires calculation of hydrodynamic forces in the medium, in this case water, which typically involves Computational Fluid Dynamics (CFD). Although CFD is a well established technique, it's a well known fact that it is expensive both in terms of computational resources and valuable time. Instead, an approach that combines CFD with Euler-Lagrange equations is proposed and undertaken. Discussion regarding the proposed underwater glider, derivation of the model, the architecture of the simulation, and preliminary simulation results referenced with actual gliding results are presented.