Three dimensional model, hydrodynamics analysis and motion simulation of an underwater glider

This paper presents an approach of analyzing the sawtooth and spiraling equilibrium motion of underwater gliders which is actuated by a single internal movable and rotatable mass. The equations are derived and then solved through a recursive algorithm. Hydrodynamic coefficients of the underwater glider are calculated by computational fluid dynamics (CFD) software packages. The motions of the underwater glider were simulated using the hydrodynamic coefficients and equilibrium equations. The calculated and simulated results are shown in this paper.