Research Article

UUV Autonomous Decision-Making Method Based on Dynamic Influence Diagram

Table 4

Partial conditional probability for the UUV security status nodes.

EMEnoughEnoughLack
EUASD0–5 km0–5 km5–15 km
ESD0–5 km5–15 km15 km+0–5 km5–15 km
EMD0–50 m50–130 m130 m+0–50 m50–130 m0–50 m50–130 m0–50 m0–5 0m
LTLargeSmallNoneLargeSmallNoneLargeSmallNoneLargeSmallNoneLargeSmallLargeSmallNoneLargeSmallNoneLargeSmallNoneLargeSmallNone

PS Safe0.10.150.20.150.20.230.160.210.250.20.250.30.30.40.350.40.450.40.450.470.160.210.250.20.250.3
 Dangerous0.90.850.80.850.80.770.840.790.750.80.750.70.70.60.650.60.550.60.550.530.840.790.750.80.750.7