Motion Pattern Optimization and Energy Analysis for Underwater Glider Based on the Multi-Objective Artificial Bee Colony Method

Underwater gliders are prevailing in oceanic observation nowadays for their flexible deployment and low cost. However, the limited onboard energy constrains their application, hence the motion pattern optimization and energy analysis are the key to maximizing the range of the glider while maintaining the acceptable navigation preciseness of the glider. In this work, a Multi-Objective Artificial Bee Colony (MOABC) algorithm is used to solve the constrained hybrid non-convex multi-objective optimization problem about range and accuracy of gliders in combination with specific glider dynamics models. The motion parameters Pareto front that balances the navigational index referring to range and preciseness are obtained, relevant gliding profile motion results are simulated simultaneously, and the results are compared with the conventional gliding patterns to examine the quality of the solution. Comparison shows that, with the utilization of the algorithm, glider voyage performance with respect to endurance and preciseness can be effectively improved.