Research On Speed Prediction And Path Planning Of Wave Gliders

The Wave Glider is a new class of persistent ocean vehicle,which gains wave energy to provide propulsion by double-body structure and harvests solar energy to supply power source with photovoltaic solar panels and rechargeable lithium-ion batteries.Thus Wave Glider overcomes the disadvantages of the conventional ocean observation platforms that need to bring their own energy and are difficult to move independently.It can achieve long-distance marine observation for a long time.Wave Glider has a good application prospect and important significance in the field of marine observation.However,due to the wave-propelled and solar-powered characteristics of Wave Glider,the course and velocity of Wave Glider completely depend on the complex marine environment in the sea trials.Although the correct course can be controlled by the steering gear,its velocity still relies solely on marine environment factors.Thus velocity prediction of Wave Glider is a concern.Based on the OCFS-C predictive data model,this paper adopts the linear regression model to linearly weigh the marine environment parameters,such as the effective wave height,surface current and wind speed.Then speed prediction model of Wave Glider is deduced.The marine environment has a very significant impact on Wave Glider in the sea trials,which either forces Wave Glider to stagnate or advances Wave Glider to fast forward.So path planning of Wave Glider is a first question before the wave glider performs the marine observation task.Based on the conventional path planning algorithm,this paper introduces the velocity of Wave Glider to improve the grid and ant colony algorithm so as to realize the path planning of Wave Glider.In order to verify the effectiveness and practicability of Wave Glider velocity prediction and path planning,this paper carries on the simulation with MATLAB2014 a simulation platform.From the simulation results,we can see that this paper finds out the exact relationship between the forward velocity of Wave Glider and the marine environmental factors and guides Wave Glider to complete the marine observation task by the safest and fastest way.