UUV Autonomous Decision-Making Method Based on Dynamic Influence Diagram

Table 6

Marine environmental situation and working and safety status.

	Random node	Node probability
Situation node	Underwater environment P (UETL)	{Safe, dangerous} = {0.9185, 0.0815}
	UUV’s working condition P (PWC)	{Good, bad} = {0.2653,0.7347}
	UUV’s safety situation P (PS)	{Safe, dangerous} = {0.4645, 0.5355}
	Threat level P (TL)	{Safe, dangerous} = {0.2262, 0.7738}