Research Article

UUV Autonomous Decision-Making Method Based on Dynamic Influence Diagram

Table 8

Trigger conditions of decision-making schemes.

Decision-making schemeContinue to executeReplanningEmergency dumpSelf-destruct

Required conditionsThe 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 index0.7 ≤ P (TL = safe) ≤ 1 and 0.7 ≤ P (EM = enough)≤10.5 ≤ P (TL = safe) and 0.3 ≤ P (EM = enough) < 0.70.2 ≤ P (TL = safe) < 0.5 and 0.1 ≤ P (EM = enough) < 0.3P (TL = safe) < 0.2

Whether the conditions are metNoNoYesNo