UUV Autonomous Decision-Making Method Based on Dynamic Influence Diagram

Table 2

Partial conditional probability of nodes in the dynamic model of underwater environmental threat assessment.

UOTL	UOD	0–50 m												50–130 m
	UOMT	Dynamic						Steady						Dynamic						Steady
OD		Violent			Slight			Violent			Slight			Violent			Slight			Violent			Slight
OC		High	Med	Low	High	Med	Low	High	Med	Low	High	Med	Low	High	Med	Low	High	Med	Low	High	Med	Low	High	Med	Low
UETL	Safe	0.2	0.3	0.2	0.3	0.4	0.3	0.3	0.4	0.3	0.4	0.45	0.4	0.5	0.6	0.5	0.55	0.7	0.55	0.55	0.7	0.55	0.6	0.8	0.6
	Dangerous	0.8	0.7	0.8	0.7	0.6	0.7	0.7	0.6	0.7	0.6	0.55	0.6	0.5	0.4	0.5	0.45	0.3	0.45	0.45	0.3	0.45	0.4	0.2	0.4