Research and design of a new hybrid energy positive buoyancy autonomous vehicle

This paper presents the research and design of a hybrid energy positive buoyancy autonomous vehicle. Its working mode, shape design, working principle, main components, and control system are described. The hybrid energy positive buoyancy autonomous vehicle overcomes its own positive buoyancy by generating negative lift from its wing and combines its dynamic control surface to realize underwater motion. The hybrid energy technology of solar cell and lithium battery is adopted to improve the endurance of the positive buoyancy autonomous vehicle. The performance and control response of the prototype of the hybrid energy positive buoyancy autonomous vehicle is studied through the pool test. The results of the pool test show that the hybrid energy positive buoyancy autonomous vehicle has strong adaptability to the environment, excellent performance, high safety, and a bright future.