Path planning for underwater glider under control constraint

Abstract

Energy saving is important for the underwater gliders because they have limited onboard battery power. A novel optimal three-dimensional path planning method is introduced in this article, which has low energy consumption and is useful for the path planning of underwater gliders. The method is derived using optimization theory. In the planning process, the constrained control does not pass the zero point to obtain the turning path formed by the unidirectional arc. Then, the method is extended to three dimensions, which includes depth parameter. For the more complicated median-depth path, glider's glide distance is increased by extending the turning radius, in order to achieve the end state. Compared with the traditional three-dimensional Dubins path, the simulation results indicated that the proposed optimal path leads to the glide with a lower energy consumption.