Underwater Gliders are generally used in oceanographic research, marine, biological and commercial underwater applications. An underwater glider is a type of autonomous underwater vehicle (AUV) that uses small changes in its buoyancy. The glider which is driven by buoyancy change have proven quite effective for long-range distance. For buoyancy purpose, a suction chamber available which can suck the water in and also pump the water out will shift the center of gravity of the glider to make a parabolic up and down dive pattern in the ocean. In this paper, the research involves developing an underwater glider for its horizontal path like Autonomous Underwater Vehicle (AUV) by providing a small propulsion unit at its tail part to provide pull or push force during the dive pattern. Also this autonomous robot (GLIDEBOT-S) is built with the standard available parts which are low in cost without considering sensors. CFD analysis is done for analyzing lift and drag forces at different angle of attacks varying from 0° to 45°. Matlab simulation was done for analyzing the torque of the selected motor. Gyro sensor is used for controlling the motors of rear propulsion and buoyancy engine. Based on the experimental results, it is found that the developed underwater robot functions as expected and can carry up to 1.5kg payload which can be used for implementing advanced control systems or to carry any systems within the payload limit. Further, an underwater camera is used for surveillance purpose. © International Science Press.