A maneuverable, pneumatic underwater glider

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 attitudes and an unrestricted range of roll angles. The ability to complete a full 360 degree roll permits the use of asymmetric geometries like wing camber or dihedral and to assess their performance benefits. In this paper, the mechanical and electrical design of the glider is discussed in detail.