Simulation and analysis for AUV motion with mode of separation using load's gravity

Autonomous underwater vehicle (AUV) contains a load and a launcher. The motion of a load separates from an AUV using its gravity was discussed. Considering the effect of the constraint between the load and the launcher, the kinetic equations of the AUV in the course of the load separation were derived and simulated. The results show that, if the load's gravity is greater than its buoyancy, the collision possibility between the load and the launcher is reduced with the AUV's velocity increased before the separation, that is increased when the set separation angle chooses too large or small. The separation security is decreased compared with the situation when the effect of the launcher's motion is ignored.