Research Article

UUV Autonomous Decision-Making Method Based on Dynamic Influence Diagram

Table 6

Marine environmental situation and working and safety status.

Random nodeNode probability

Situation nodeUnderwater 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}