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Volume 9 Issue 9
Sep.  2022

IEEE/CAA Journal of Automatica Sinica

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Article Navigation >  IEEE/CAA Journal of Automatica Sinica  > 2022  >  9(9): 1543-1560
J. Wang, Z. X. Wu, H. J. Dong, M. Tan, and J. Z. Yu, “Development and control of underwater gliding robots: A review,” IEEE/CAA J. Autom. Sinica, vol. 9, no. 9, pp. 1543–1560, Sept. 2022. doi: 10.1109/JAS.2022.105671
Citation: J. Wang, Z. X. Wu, H. J. Dong, M. Tan, and J. Z. Yu, “Development and control of underwater gliding robots: A review,” IEEE/CAA J. Autom. Sinica, vol. 9, no. 9, pp. 1543–1560, Sept. 2022. doi: 10.1109/JAS.2022.105671
shu

Development and Control of Underwater Gliding Robots: A Review

doi: 10.1109/JAS.2022.105671
  • 1.

    State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, and also with the School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 100049, China

  • 2.

    State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, and also with the State Key Laboratory for Turbulence and Complex System, Department of Mechanics and Engineering Science, BIC-ESAT, College of Engineering, Peking University, Beijing 100871, China

Funds:  This work was supported in part by the National Natural Science Foundation of China (61725305, 62033013, U1909206, T2121002)
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    Abstract
  • As one of the most effective vehicles for ocean development and exploration, underwater gliding robots (UGRs) have the unique characteristics of low energy consumption and strong endurance. Moreover, by borrowing the motion principles of current underwater robots, a variety of novel UGRs have emerged with improving their maneuverability, concealment, and environmental friendliness, which significantly broadens the ocean applications. In this paper, we provide a comprehensive review of underwater gliding robots, including prototype design and their key technologies. From the perspective of motion characteristics, we categorize the underwater gliding robots in terms of traditional underwater gliders (UGs), hybrid-driven UGs, bio-inspired UGs, thermal UGs, and others. Correspondingly, their buoyancy driven system, dynamic and energy model, and motion control are concluded with detailed analysis. Finally, we have discussed the current critical issues and future development. This review offers valuable insight into the development of next-generation underwater robots well-suited for various oceanic applications, and aims to gain more attention of researchers and engineers to this growing field.

     

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    Highlights

    • This paper comprehensively summarizes the current platform research status of UGRs, including traditional UGs, hybrid-driven UGs, bio-inspired UGs, thermal UGs, and other types of underwater gliders
    • As key technologies of UGRs, we outline the research status of buoyancy driven system and control methods of UGRs, including system modeling, motion control, and gliding optimization
    • We analyze the current research bottlenecks and future development of UGRs, providing certain guidance and deployment suggestions for researchers in the future research

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