A Multimodal Aerial Underwater Vehicle with Extended Endurance and Capabilities

A new solution to improving the poor endurance of the existing hybrid aerial underwater vehicle (HAUV) is proposed in this paper. The proposed multimodal hybrid aerial underwater vehicle (MHAUV) merges the design concept of the fixed-wing unmanned aerial vehicle (UAV), the multirotor, and the underwater glider (UG) and has a novel lightweight pneumatic buoyancy adjustment system. MHAUV is well suited for moving in distinct medium and can achieve extended endurance for long distance travel in both air and water. The mathematical model is given based on Newton-Euler formalism. Necessary design principles of the vehicle’s physical parameters are obtained through different gliding equilibrium points. Then, a control scheme composed of two separate proportional-integral-derivative (PID) is employed for the vehicle’s motion control in multi-domain simulation. The simulation results are presented to verify the multi-domain mobility and the mode switch ability of the proposed vehicle intuitively. Finally, a prototype, NEZHA, is introduced to be the experimental platform. The success of the flight test, the hovering test, the underwater glide test, and the medium transition test all contribute to prove the feasibility of the proposed concept of the novel MHAUV.