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As a special type of AUV, underwater gliders have many advantages, such as long endurance, low noise and low energy cost. A glider can periodically change its net buoyancy by a hydraulic pump, and utilize the lift from its wings to generate forward motion. The inherent characteristics of a glider can be summarized as buoyancy-driven propulsion, sawtooth pathway, high endurance and slow speed. There exist three legacy gliders named respectively Seaglider, Spray and Slocum [1~6]. In spite that underwater gliders features low level of self noise and high endurance, they also have weaknesses like the lack of maneuverability and the inability to perform a fixed depth or level flight [7]. Driven by a propeller with carried energy source, autonomous underwater vehicles is preprogrammed to carry out an underwater mission without assistance from an operator on the surface. However, they can only cover a relatively short range after each recharge due to the high power consumed for propulsion and generate much more noise than the AUGs because of its propeller and motors [8~10]. The range of AUV’s is restricted by the amount of energy carried on board, can was not more than several hundreds kilometers in general [11]. The performances of the underwater vehicle are compared in Figure 2.

Hydrodynamic Characteristics of the Main Parts of a Hybrid-Driven Underwater Glider PETREL