Dynamical Analysis of Autonomous Underwater Glider Formation with Environmental Uncertainties

Application of multiple autonomous underwater gliders (AUGs) is a promising method for large scale, long-term ocean survey. Dynamical behaviors of AUGs are inevitably affected by uncertainties in the marine environment. This paper introduces a statistical method for uncertainty analysis in formation control of a fleet of AUGs. The AUG formation is modeled as a multibody system. Artificial potential fields are constructed between the AUGs and the goal, between the AUGs and the obstacle, and between neighboring AUGs in the formation for motion planning and coordination. Kane's method is used to describe the dynamics of the formation. Currents are addressed as the environmental uncertainties and criteria are provided for uncertainty analysis. A series of simulations is carried out for quantitative analysis on influence of uncertain factors. Results show that environmental uncertainties may greatly influence the dynamics of AUGs and should be included in the design and control of AUG formations.