Development and Control of Underwater Gliding Robots:A Review

作     者：Jian Wang Zhengxing Wu Huijie Dong Min Tan Junzhi Yu Jian Wang;Zhengxing Wu;Huijie Dong;Min Tan;Junzhi Yu

作者机构：the State Key Laboratory of Management and Control for Complex SystemsInstitute of AutomationChinese Academy of SciencesBeijing 100190 the School of Artificial IntelligenceUniversity of Chinese Academy of SciencesBeijing 100049China the State Key Laboratory for Turbulence and Complex SystemDepartment of Mechanics and Engineering ScienceBIC-ESATCollege of EngineeringPeking UniversityBeijing 100871China 

出 版 物：《IEEE/CAA Journal of Automatica Sinica》 (自动化学报（英文版）)

年 卷 期：2022年第9卷第9期

页      面：1543-1560页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 0811[工学-控制科学与工程] 

基　　金：the National Natural Science Foundation of China(61725305 62033013 U1909206 T2121002) 

主　　题：Buoyancy driven motion control oceanic applications system development underwater gliding robots 

摘      要：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 ***,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 *** this paper,we provide a comprehensive review of underwater gliding robots,including prototype design and their key *** 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 ***,their buoyancy driven system,dynamic and energy model,and motion control are concluded with detailed ***,we have discussed the current critical issues and future *** 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.