Dynamic modeling and simulation of unmanned underwater vehicle mooring on seabed

According to the principle of lumped mass approximation and the movement characteristics of the unmanned underwater vehicle (UUV), a three-dimensional mathematical model was established, in which the UUV was coupling considered with the cable. In this mathematical model, the cable element's attitude angle was considered as a benchmark to put forward a reasonable method to discrete the vector of curvatures along the cable. Once this was accomplished, the bending terms of the governing motion equations can be calculate easily. The mathematical model was then deduced with the method of Runge-Kutta integration to predict and analyze the dynamic response during the mooring process.