Considering the complexity and uncertainty of decision-making in the operating environment of an unmanned underwater vehicle (UUV), this study proposes an autonomous decision-making method based on the dynamic influence diagram (DID) and expected utility theory. First, a threat assessment model is established for situation awareness of the UUV. Accordingly, a DID model is developed for autonomous decision-making of the UUV. Then, based on the threat assessment results for the UUV, the utility of each decision-making plan in the decision-making nodes is inferred and predicted. Subsequently, the principle of maximum expected utility is used to select an optimal autonomous decision-making plan. Finally, the effectiveness of the DID method is verified by simulation. Compared with the traditional expert systems, the DID system shows great adaptability and exhibits better solutions of dynamic decision problems under uncertainty.

中文翻译：

---

基于动态影响图的UUV自主决策方法

考虑到无人水下航行器（UUV）在运行环境中决策的复杂性和不确定性，本研究提出了一种基于动态影响图（DID）和期望效用理论的自主决策方法。首先，建立威胁评估模型以了解UUV的态势。因此，开发了用于UUV自主决策的DID模型。然后，根据UUV的威胁评估结果，推断并预测决策节点中每个决策计划的效用。随后，使用最大期望效用原理来选择最优的自主决策计划。最后，通过仿真验证了DID方法的有效性。与传统专家系统相比，