Energy-optimal motion planning of underwater gliders accounting for seabed topography and ocean currents

Abstract

The sawtooth gliding profile of underwater gliders can be determined by motion parameters, including yaw angles , diving depths, and pitch angles . Planning a series of motion parameters can generate a 3D gliding path that helps underwater gliders adapt to ocean currents and seabed topography . This paper presents an offline motion planning method for underwater gliders. By optimizing each gliding profile’s motion parameters, i.e., yaw angle, diving depth, and pitch angle, the seabed topography and ocean currents can be taken into account to generate an energy-optimal 3D path. To solve the motion planning problem, we propose a well-designed encoding method and a piecewise fitness function, which are used with the JADE algorithm to determine the optimal motion parameters. Experimental results on real seabed topography demonstrate that our method significantly reduces energy consumption and has better adaptability to complex ocean environments than traditional underwater glider path planning methods.