Research Article

UUV Autonomous Decision-Making Method Based on Dynamic Influence Diagram

Table 1

State set of UUV threat assessment model nodes.

VariableDescriptionSet of states

UODDistance of underwater obstacles{0–50 m, 50–130 m, 130 m+}
UOMTMotion state of underwater obstacles{Dynamic, steady}
UOTLThreat level of underwater obstacles{Safe, dangerous}
ODOcean density{High, med, low}
OCOcean currents{Violent, slight}
UETLThreat level of underwater environment{Safe, dangerous}
EMEnergy margin{Enough, lack, dangerous}
ESDDistance of enemy submarine{0–5 km, 5–15 km, 15 km+}
EUASDDistance to enemy's underwater acoustic station{0–5 km, 5–15 km, 15 km+}
LTLeakage threats{Large, small, none}
EMDDistance of enemy mine{0–50 m, 50–130 m, 130 m+}
PSPlatform security{Safe, dangerous}
MLMission load{Good, bad}
YAYawing{None, slight, violent}
TATrim angle{None, small, large}
SECCondition of steering engine{Good, bad}
PWCPlatform working condition{Good, bad}
TLThreat level of UUV{Safe, dangerous}