Theoretical and experimental study of anti-helical motion for underwater glider

It is confirmed by our experiments that a new pattern of helical motion called anti-helical motion exists for autonomous underwater glider (AUG). Unlike traditional one, this type has its own characteristics. By solving the nonlinear equilibrium equations, we have analyzed the relationship between control variable (CG location) and the anti-helical motion characteristics at steady state. Theoretical research proves that hydrodynamic forces play a critical role in determining this motion style. The main theoretical conclusions are validated by experimental results at last.