ICRA 2011 Paper Abstract


Paper TuP212.4

Zhang, Shaowei (Shenyang Institute of Automation, Chinese Academy of Science), Yu, Jiancheng (Shenyang Institute of Automattion, ChineseAcademyofSciences), Zhang, Aiqun (Shenyang Institute of Automation, Chinese Academy of Science), Zhang, Fumin (Georgia Institute of Technology)

Steady Three Dimensional Gliding Motion of an Underwater Glider

Scheduled for presentation during the Regular Sessions "Field and Underwater Robotics II" (TuP212), Tuesday, May 10, 2011, 16:10−16:25, Room 5H

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Marine Robotics, Kinematics, Force Control


Underwater Gliders have found broad applications in ocean sampling. In this paper, the nonlinear dynamic model of the glider developed by the Shenyang Institute of Automation, Chinese Academy of Sciences, is established. Based on this model, we solve for the parameters that characterize steady state spiraling motions of the glider. A set of nonlinear equations are simplified so that a recursive algorithm can be used to find the solutions.



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