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W1, W2: Waypoints on the desired glider trajectory.
A typical glider motion is shown in Figure 2, where the dash line represents the actual glider trajectory and the black arrow line represents the trajectory in the horizontal plane.
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Substantial control is achieved when glider trajectories are coordinated to collect information-rich data.
The existence of ocean flow (ocean current) always influences the trajectory of the glider since the speed of the glider in horizontal plane is generally less than 0.4 m/s which has the same magnitude with the speed of the flow.
The waypoints are chosen to steer each glider's motion to the trajectory planned by the method presented in Section 3.2.1.
Open image in new window Figure 19 Trajectory error of each glider Open image in new window Figure 20 Distance between gliders.
The trajectory error of each glider is less than 2.5 km, the formation shape error between each glider is less than 2 km, and the difference between actual energy consumption and the simulated energy consumption is less than 24% actual energy.
First of all, the theme of this issue that trajectory of dynamic-glider missile is described, and analyse the need for its development.
Trajectory error of each glider and the distance between gliders are adopted to evaluate the performance of the fleet controlled by the method presented in this paper.
The trajectories of the gliders were generated by the fleet trajectory planner which shaped the desire formation geometry and achieved the sailing goals.
In general, the underwater glider is always required to move along a preset trajectory or an adaptive reset local trajectory in the horizontal plane, meanwhile diving to the desired depth during the motion.
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