Research Article
UUV Autonomous Decision-Making Method Based on Dynamic Influence Diagram
Table 4
Partial conditional probability for the UUV security status nodes.
| EM | Enough | Enough | Lack | EUASD | 0–5 km | 0–5 km | 5–15 km | ESD | 0–5 km | 5–15 km | 15 km+ | 0–5 km | 5–15 km | EMD | 0–50 m | 50–130 m | 130 m+ | 0–50 m | 50–130 m | 0–50 m | 50–130 m | 0–50 m | 0–5 0m | LT | Large | Small | None | Large | Small | None | Large | Small | None | Large | Small | None | Large | Small | Large | Small | None | Large | Small | None | Large | Small | None | Large | Small | None |
| PS | Safe | 0.1 | 0.15 | 0.2 | 0.15 | 0.2 | 0.23 | 0.16 | 0.21 | 0.25 | 0.2 | 0.25 | 0.3 | 0.3 | 0.4 | 0.35 | 0.4 | 0.45 | 0.4 | 0.45 | 0.47 | 0.16 | 0.21 | 0.25 | 0.2 | 0.25 | 0.3 | Dangerous | 0.9 | 0.85 | 0.8 | 0.85 | 0.8 | 0.77 | 0.84 | 0.79 | 0.75 | 0.8 | 0.75 | 0.7 | 0.7 | 0.6 | 0.65 | 0.6 | 0.55 | 0.6 | 0.55 | 0.53 | 0.84 | 0.79 | 0.75 | 0.8 | 0.75 | 0.7 |
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