UUV Autonomous Decision-Making Method Based on Dynamic Influence Diagram

Table 11

A comparison of the decision outputs from the DID and expert systems.

Time	Decision input parameters	DID decision output	Expert system decision output
t	UOTL = safe, OD = low, OC = slight, EM = enough, ESD = 15 km+, EUASD = 15 km+, LT = none, EMD = 130 m+, ML = good, YA = none, TA = none, SEC = good, mother ship around UUV	Continue to execute	Continue to execute
t + 1	UOTL = safe, OD = low, OC = slight, EM = enough, ESD = 15 km+, EUASD = 15 km+, LT = none, EMD = 130 m+, ML = good, YA = none, TA = none, SEC = good, mother ship around UUV	Continue to execute	Continue to execute
t + 2	UOTL = safe, OD = low, OC = slight, EM = lack, ESD = 15 km+, EUASD = 15 km+, LT = none, EMD = 130 m+, ML = good, YA = none, TA = none, SEC = good, mother ship around UUV	Continue to execute	Stop missions, emergency dump, wait for rescue
t + 3	UOTL = safe, OD = low, OC = slight, EM = lack, ESD = 15 km+, EUASD = 15 km+, LT = none, EMD = 130 m+, ML = good, YA = none, TA = none, SEC = good, mother ship around UUV	Continue to execute	Stop missions, emergency dump, wait for rescue
t + 4	UOTL = safe, OD = low, OC = slight, EM = dangerous, ESD = 15 km+, EUASD = 15 km+, LT = none, EMD = 130 m+, ML = good, YA = none, TA = none, SEC = good, mother ship around UUV	Stop missions, emergency dump, wait for rescue	Stop missions, emergency dump, wait for rescue
t + 5	UOTL = safe, OD = low, OC = slight, EM = dangerous, ESD = 15 km+, EUASD = 15 km+, LT = none, EMD = 130 m+, ML = good, YA = none, TA = none, SEC = good, mother ship around UUV	Stop missions, emergency dump, wait for rescue	Stop missions, emergency dump, wait for rescue