This study proposes a ROV-based deep-sea mining system to overcome the stability issues of tracked vehicles in the traditional deep-sea mining system. The ROV-based deep-sea mining vehicle replaces the traditional tracked deep-sea mining vehicle. The ROV-based deep-sea mining vehicle consists of a remote operated vehicle (ROV) and a mining robot (MRT). First, this paper investigates the dynamic model of the ROV-based mining vehicle, assuming that the ROV maintains a fixed depth while towing the MRT. By analogy with a bicycle model, the dynamic model of the ROV-based mining vehicle is established. Subsequently, a hierarchical path tracking control strategy is introduced. Based on the kinematic model of the ROV-type mining vehicle, a linear model predictive control (LMPC) controller is designed to calculate a virtual control law for converging MRT path tracking deviations. A lower-level PID controller computes the ROV control input in response to the virtual control law. Finally, the feasibility of the hierarchical path tracking control strategy is preliminarily validated through numerical simulations.