Motion Strategy and Control Parameters Optimization for an Underwater Glider Based on 3D Dubins Paths

This research examines the optimization of motion strategy and control parameters for an Autonomous Underwater Glider (AUG) navigating between two points. For scenarios with specified initial position, target position, and heading, this study proposes a three-dimensional multimodal path planning methodology based on the 3D-Dubins path, ensuring both task fulfillment and motion feasibility within AUG dynamics constraints. The path planning approach incorporates ocean current interference and utilizes task objectives and control parameters as inputs. It systematically calculates information including horizontal Dubins type, vertical plane motion modes, and turning point depths to generate the path planning solution. The motion control strategy implements initial control parameter values and utilizes depth measurements as evaluation criteria. Through control parameter adjustments, the strategy facilitates tracking of the designated path. This control approach requires minimal feedback information, with computations executable by shore-based facilities, thereby reducing computational and measurement demands on the AUG and enhancing operational reliability. For specified task objectives, multi-objective optimization of control parameters is conducted using the proposed path planning method and motion control strategy, yielding optimized control parameters and corresponding motion control strategies for various operational requirements.