**8. Acknowledgment**

This work was partly supported by the Industrial Foundation Technology Development project (No. 10035480) of MKE in Korea, and the authors also gratefully acknowledge the support from UTRC(Unmanned Technology Research Centre) at KAIST, originally funded by ADD, DAPA in Korea.

### **9. References**


36 Autonomous Underwater Vehicles

AUV, we observed that the proposed technologies provided satisfactory accuracy for the

However, through the basin tests, we also observed that proposed vision algorithm was somewhat overly sensitive to the environmental conditions. How to improve the robustness of underwater vision is one of great interest in our future works. Besides, developing certain low-cost underwater navigation technology with partially known environmental conditions

This work was partly supported by the Industrial Foundation Technology Development project (No. 10035480) of MKE in Korea, and the authors also gratefully acknowledge the support from UTRC(Unmanned Technology Research Centre) at KAIST, originally funded

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is also one of our future concerns.

**8. Acknowledgment** 

by ADD, DAPA in Korea.

**9. References** 

1999


**3** 

*2Tianjin University* 

*China* 

**Hydrodynamic Characteristics of the Main Parts** 

Autonomous Underwater Vehicle (AUV), Remotely Operated Vehicle (ROV) and Autonomous Underwater glider (AUG) are the main autonomous underwater platforms available currently, which play important role in the marine environmental monitering. The

As a special type of AUV, underwater gliders have many advantages, such as long endurance, low noise and low energy cost. A glider can periodically change its net buoyancy by a hydraulic pump, and utilize the lift from its wings to generate forward motion. The inherent characteristics of a glider can be summarized as buoyancy-driven propulsion, sawtooth pathway, high endurance and slow speed. There exist three legacy gliders named respectively Seaglider, Spray and Slocum [1~6]. In spite that underwater gliders features low level of self noise and high endurance, they also have weaknesses like the lack of maneuverability and the inability to perform a fixed depth or level flight [7]. Driven by a propeller with carried energy source, autonomous underwater vehicles is preprogrammed to carry out an underwater mission without assistance from an operator on the surface. However, they can only cover a relatively short range after each recharge due to the high power consumed for propulsion and generate much more noise than the AUGs because of its propeller and motors [8~10]. The range of AUV's is restricted by the amount of energy carried on board, can was not more than several hundreds kilometers in general [11].

relationships between those three types of vehicles were shown in Figure 1.

The performances of the underwater vehicle are compared in Figure 2.

**1. Introduction** 

Fig. 1. Underwater Vehicles

**of a Hybrid-Driven Underwater Glider PETREL**

Wu Jianguo1, Zhang Minge2 and Sun Xiujun2

*1Shenyang Institute of Automation Chinese Academy of Sciences* 

Zheng, X. (1992). Layered control of a practical AUV, *Proceedings of the Symposium on Autonomous Underwater Vehicle Technology*, Washington DC, pp. 142-147, 1992
