Abstract
Underwater gliders are prevailing in oceanic observation nowadays for their flexible deployment and low cost. However, the limited onboard energy constrains their application, hence the motion pattern optimization and energy analysis are the key to maximizing the range of the glider while maintaining the acceptable navigation preciseness of the glider. In this work, a Multi-Objective Artificial Bee Colony (MOABC) algorithm is used to solve the constrained hybrid non-convex multi-objective optimization problem about range and accuracy of gliders in combination with specific glider dynamics models. The motion parameters Pareto front that balances the navigational index referring to range and preciseness are obtained, relevant gliding profile motion results are simulated simultaneously, and the results are compared with the conventional gliding patterns to examine the quality of the solution. Comparison shows that, with the utilization of the algorithm, glider voyage performance with respect to endurance and preciseness can be effectively improved.
Highlights
Underwater gliders have become an important ocean observing platform based on characteristics of low cost, long duration, and flexible mobility, etc. [1,2,3]
Regarding motion optimization of the glider with separate navigational objectives, a lot of excellent research has been carried out: Zamud et al introduce their work on utilizing the Differential Evolution (DE) algorithm to optimize a series of departure points bearing angles to counteract the effects of ocean currents and make the glider reach the predetermined waypoint accurately [6]
When a large profile number is applied in the practical navigation, it may obviously reduce the system energy consumption, and trigger the problem of accumulation of heading error augmenting, which makes the motion pattern optimization and control parameter trade-off significant important
Summary
Underwater gliders have become an important ocean observing platform based on characteristics of low cost, long duration, and flexible mobility, etc. [1,2,3]. Gliders are designed to achieve three-dimensional motion by the buoyancy-driven system, which significantly reduces the navigational energy consumption [4]. Without any powerful thruster, once gliders are not surfaced receiving the satellite signal to correct the course for a long time, the gliding state will be severely disturbed by the marine environment. In view of such design, the optimization of motion pattern and energy analysis for enhancing the navigation range as well as improving the navigation accuracy have long been the focus of research [5]. By applying the CTS-A* algorithm, Zhou et al conducted the path planning with adjustable gliding speed under ocean current information, which can significantly improve the gliding efficiency [8]
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