Abstract
Hybrid Underwater Gliders (HUGs) integrate advantages of Autonomous Underwater Gliders (AUGs) with those of Autonomous Underwater Vehicles (AUVs). HUGs with buoyancy engine and the auxiliary propeller, compared with traditional AUGs, get more various and optimal motion modes, including glide in a saw tooth path with single buoyancy engine, thrust as traditional AUVs with single propeller, and power glide with both buoyancy engine and propeller. In this paper, propeller propulsion system of HUGs, Petrel II, is designed. Dynamic model is established and motion modes are studied. Simulations and field trials validate that abundant motion modes improve motion ability of HUGs and expands the application value of HUGs.