UUV Autonomous Decision-Making Method Based on Dynamic Influence Diagram

Table 1

State set of UUV threat assessment model nodes.

Variable	Description	Set of states
UOD	Distance of underwater obstacles	{0–50 m, 50–130 m, 130 m+}
UOMT	Motion state of underwater obstacles	{Dynamic, steady}
UOTL	Threat level of underwater obstacles	{Safe, dangerous}
OD	Ocean density	{High, med, low}
OC	Ocean currents	{Violent, slight}
UETL	Threat level of underwater environment	{Safe, dangerous}
EM	Energy margin	{Enough, lack, dangerous}
ESD	Distance of enemy submarine	{0–5 km, 5–15 km, 15 km+}
EUASD	Distance to enemy's underwater acoustic station	{0–5 km, 5–15 km, 15 km+}
LT	Leakage threats	{Large, small, none}
EMD	Distance of enemy mine	{0–50 m, 50–130 m, 130 m+}
PS	Platform security	{Safe, dangerous}
ML	Mission load	{Good, bad}
YA	Yawing	{None, slight, violent}
TA	Trim angle	{None, small, large}
SEC	Condition of steering engine	{Good, bad}
PWC	Platform working condition	{Good, bad}
TL	Threat level of UUV	{Safe, dangerous}