大型可変折りたたみ翼を備えた小型ハイブリッド水中グライダーの設計、モデリング、および実験的検証
Design, Modeling and Experimental Validation of a Miniature Hybrid Underwater Glider With Large-Range Foldable Deflectable Wings
小型ハイブリッド水中グライダーに、独立駆動の折りたたみ・偏向可能な翼を搭載し、多体動力学モデルとパラメータ同定手法を提案して、様々な形態での正確なモデリングと検証を行った。
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2. 先行研究と比べてどこがすごい？
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著者: Yongjian Zhu, Yusen Tao, Feitian Zhang
分類: cs.RO
原文アブストラクト
Miniature hybrid underwater gliders have attracted increasing attention for long-endurance ocean observation and confined-space inspection. Large-range wing reconfiguration offers a promising yet largely unexplored approach for simultaneously enhancing maneuverability and shape adaptability in constrained underwater environments. However, such morphing introduces substantial challenges in mechanical integration, dynamic modeling, and hydrodynamic characterization. This paper presents FoDeGlider, a miniature hybrid underwater glider equipped with two independently actuated wings capable of large-range folding and deflection. To capture configuration-dependent variations in mass distribution, center-of-geometry location, and hydrodynamic loading, a multibody dynamics model is developed by treating wing configuration as a structural variable. A composite rigid body algorithm (CRBA)-based projection formulates the composite inertia, wrench transformations, and component-level hydrodynamics into a unified Fossen-form dynamic model applicable to arbitrary wing configurations. A sequential parameter-identification framework is further proposed to estimate fuselage and wing hydrodynamic coefficients, resulting in an open benchmark dataset for model identification and validation. Extensive experiments are conducted, the results of which demonstrate accurate dynamic modeling and parameter identification across diverse morphing configurations. Gate traversal experiments further validate FoDeGlider's ability to actively reconfigure its morphology during locomotion, enabling enhanced navigation in confined underwater environments.
