UUV mission re-planning based on threat assessment of uncertain events

The mission planning of unmanned underwater vehicles (UUV) is directly related to the efficiency of underwater operations. Given the complexity of the subseafloor environment and the frequency of uncertain events, in some cases, UUV has difficulty accomplishing its mission as originally intended. Intended for the UUV mission planning problem, a mission reprogramming strategy based on the assessment of uncertain event threats is proposed. The first is UUV based on the distribution of initial task planning, using the self-organizing network algorithm for UUV scheduling access to multiple task points in the temporal, sequence and the shortest path to task points. The second is to determine the type of uncertain event that occurs during a UUV mission and turn it into a Bayesian network. The final step is to use the Bayesian network to assess the threat level of uncertain events. When the threat level, is greater than the threshold, UUV performs mission reprogramming; If not, UUV will, continue its mission as originally planned. Overall, the results show that the proposed algorithm can guarantee the security of the UUV operation and improve the completion rate.