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In this paper we discuss the testing of a novel underwater glider designed to be fast and maneuverable for operation in the littorals. The glider's pneumatic buoyancy engine was shown to operate reliably and provide large, rapid displacements. However, the compressibility of the bladder and associated change in tank weight (from exhausting air with each dive) presented significant challenges in trimming...
A coastal (100 meter depth) underwater glider has been developed to serve as a platform for testing advanced perception, planning, and control algorithms to improve glider efficiency and performance. The glider's buoyancy engine is pneumatically powered, and capable of generating large changes in buoyancy. Powerful and fast moving mass actuators allow the vehicle to achieve a large range of pitch...
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