ABSTRACT
As one of the most effective vehicles for ocean development and exploration, underwater gliding robots (UGRs) have the unique characteristics of low energy consumption and strong endurance. Moreover, through borrowing the motion principles of current underwater robots, a variety of novel UGRs have emerged, with improved maneuverability, concealment, and environmental friendliness, which significantly broadens the ocean applications. In this chapter, the authors provide a comprehensive review of underwater gliding robots, including the prototype design and their key technologies. From the perspective of motion characteristics, we categorize the underwater gliding robots in terms of traditional underwater gliders (UGs), hybrid-driven UGs, bio-inspired UGs, thermal UGs, and others. Correspondingly, their buoyancy-driven system, dynamic and energy models, and motion control are established with a detailed analysis. Finally, the authors discuss the current critical issues and future development. This chapter offers valuable insight into the development of next-generation underwater robots well suited for various oceanic applications and aims to bring more attention from researchers and engineers to this growing field.
