Research Article
UUV Autonomous Decision-Making Method Based on Dynamic Influence Diagram
Table 8
Trigger conditions of decision-making schemes.
| Decision-making scheme | Continue to execute | Replanning | Emergency dump | Self-destruct |
| Required conditions | The system senses no abnormal state and does not receive a task update instruction, and the energy is sufficient. | The system senses an abnormal state or receives a task update instruction and has a specific energy margin. | The system senses an abnormal state or receives the instruction of “emergency ascent,” or the energy margin is too low. | The system senses an abnormal state or receives the instruction of “self-destruct.” |
| Required quantitative index | 0.7 ≤ P (TL = safe) ≤ 1 and 0.7 ≤ P (EM = enough)≤1 | 0.5 ≤ P (TL = safe) and 0.3 ≤ P (EM = enough) < 0.7 | 0.2 ≤ P (TL = safe) < 0.5 and 0.1 ≤ P (EM = enough) < 0.3 | P (TL = safe) < 0.2 |
| Whether the conditions are met | No | No | Yes | No |
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