2009 Second International Symposium on Computational Intelligence and Design
Behavior Decision-Making Model by Petri Net
for Submarine Torpedo Attack
Wei Shichuan Zhao Shaolei
Department of Post Graduate Department of Navigation and Communication
Navy Submarine Academy Navy Submarine Academy
QingDao, China QingDao, China
vv.ip@139.com zslduby@126.com
Abstract— The simulation of submarine torpedo attack against
surface ship is a complicate process for discretion. The
behavior decision-making model of submarine torpedo attack
is complicated because each atom-behavior depends on various
elementary tactical rules and random battlefield situation.
Petri Net has powerful ability when applied in visual
simulation system which described parallel, asynchronous and
causal event. It is suitable to describe the behavior decision-
making model in all tactical processes of submarine torpedo
attack by scanning the transition in different order in dynamic
simulation. In this paper is established a method in solving
conflict transition and parallel behavior by modeling the
behavior of decision-making with Petri Net. Also discussed are
the emergent events such as target motioning, target missing
and torpedo coming and its countermeasures. The process of
behavior decision-making for submarine attack against
surface-ship with torpedo was decrypted entirely, in order to
make further application in tactical behavior of submarine
torpedo attack based on Computer Generated Forces.
Keywords- submarine torpedo attack; behavior decision-
making model; Petri Net; Computer Generated Forces
I. INTRODUCTION
The behavior decision-making model of submarine force
entity is an important part in simulation system of submarine
attacking surface-ship with torpedo. A truly process in the
engagement of submarine and surface ship can be shown by
the tactical behavior model of torpedo attacking, reducing
the cost of simulation training in Computer Generated Forces.
Making a refined granularity of the submarine CGF model
plays an important role in studying the torpedo attacking of a
submarine.
As a graphical and mathematical modeling tool applied
in multi-system, Petri Net has strong ability in describing
relationship of parallel, asynchronous and causal events in
simulation. Petri Net can also express discrete event
processes by visible Net-Graphics, analyze dynamic
attribution of system, and control simulation system by
modeling. In the course of submarine torpedo attack
simulation, each set of atom-behavior operated by submarine
entity is separated by different act in accordance with every
discrete event. Only when different act is described through
the relationship of parallel, causality and synchronization etc,
various tactical acts of CGF behavior can be described
978-0-7695-3865-5/09 $26.00 © 2009 IEEE 78
DOI 10.1109/ISCID.2009.168
Liu Jian
Department of Post Graduate
Navy Submarine Academy
QingDao, China
navystrong@163.com
effectively. Therefore it is instructive to apply the Petri Net
in the behavior decision-making process to simulate
submarine torpedo attack.
The related issues described in this paper were the
tactical behavior decision-making models for submarine
torpedo attack in Computer Generated Forces. The models of
decision-making in the tactical behavior of submarine
attacking surface ship with torpedo were established in an
intuitive way and with a refined granularity. Aiming at the
war-confrontational characteristics in the operation
simulation system of submarine and surface ship, the
problems were solved that are the synchronization,
competitiveness of synchronism and concurrency process in
atomic submarine operation.
II. THE THEORY OF PETRI NET MODELING
An ordinary Petri Net is a directed graph with two types
of nodes: places and transitions. Pictorially places are
indicated by circles and represent entities such as conditions
and buffers. Transitions are displayed on the graph as bars
and represent concepts in the real system such as processors,
algorithms, and events. The nodes are joined by one of two
types of directed arcs: input arcs and output arcs. An input
arc goes from a place to a transition. An output arc runs from
a transition to a place. It should be noted that arcs can only
go from a place to a transition or visa versus. Tokens are
represented graphically by identical dots and can only be
found in places. The movement of tokens between places is
controlled by the transitions of the Petri Net. Each place is
mapped to the number of tokens in it by a function, defined
as the marking. A transition is said to be enabled if and only
if all of its input places contains at least one token for each
input arc going from the place to the transition. When an
enabled transition is activated, changing marking, it is said to
fire. Upon firing, the transition removes a token from each
input place and deposits one in each of its output places.
A Petri Net can be represented as follow:
PN {P, T , I , O, M 0 } ;
where P {P , P , P } is the set of places;
1 2," n
T {T , T , T } is the set of transitions;
1 2," n
P * T z ‡, P  T ‡ ;
I is the mapping of P u T o Z such that if there exists k

input arcs connecting Pi to Tj then I(Pi,Tj)=k;
 O is the mapping of T u P o Z  where if there exists k order (which means the different tactical rules) in
output arcs connecting Tj to Pi then O(Tj, Pi)=k; running will lead to different results.
M0 is the initial marking of the Petri Net, which is the x Petri Net model is suitable for quantitative
initial distribution of token in the Petri Net. description of the operations process in submarine
torpedo attack, such as the employment of algebraic
III. MODELING OF THE PETRI NET IN TORPEDO analysis method in calculating non-variable in the
ATTACKING Net-Work system. The employment of Petri Net can
enhance the understanding and awareness of system
A. Superiority of the Application in Submarine CGF training staffs, making up for the shortcomings that
Behavior Decision-Making traditional Lanchester Theory and Monte Carlo
In the application of Petri Net, the traditional way is to methods exist, which can hardly reflect the
get the corresponding Petri Net model firstly, and then to authenticity of the simulation system.
analyze Petri Net model, at last to analyze results applied in x Petri Net system is particularly suitable for
corresponding verification in natural system. It is necessary describing the internal organizational structure and
to bring the tactical rules into the implementation process of the state changes. The structure and nature in all
Petri Net because the operating statuses of submarine entity kinds of simulation entities can be described at
are determined by a variety of tactics rules and random different levels of simulation concepts, either in way
battlefield situation. As a modeling tool, Petri Net is suitable of static structural analysis or in dynamic one. The
for modeling in behavior decision-making of submarine features in the field of tactical knowledge description
operating simulation system, mainly in the following areas: in submarine torpedo attack can be recognized easily.
x The process of dynamic change of the various atom- x The dynamic behaviors of submarine CGF entities
behavior and their conditions in the combat can be are the independent objects for research if the
studied by analyzing the Petri Net of submarine structure and behavior of submarine entity can be
torpedo attack. The conflicts, collisions, deadlocks described with Petri Net. Based on this, the
and traps in transitions can be recognized from analyzing and verifying the nature of the simulation
searching all possible places in submarine torpedo system can be realized.
attack. Furthermore, the changes of the scanning

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Figure 1. Petri Net Model of Submarine Torpedo Attacking

conversion of statically state. It means that the occurrence of

B. Petri Net Model of the Behavior Decision-Making for operation events associate with tactical rules in the transition
Submarine Torpedo Attacking of the predicated conditions. Only when a right particular
The Petri Net model of decision-making of Submarine condition (tactical behavior rule) is met, the transitions of
torpedo attack is shown in Figure 1. Each places Pi the predicated conditions are enable to carry out. The tactical
expressed the tactical status of submarine CGF entity, while meanings of the places and the transitions are shown in the
each transitions of the predicate conditions Tj expressed the following table.
TABLE I. Demonstration of the Places of Behavior Decision-Making Petri Net
Places Demonstration Places Demonstration
P1 Submarine searching in standby region P23-P24 Judging attacking target
P2 Sounding fighting alarm P25 Target maneuvering recognition
P3-P6 Comprehensive identification of target P26 Attacking immediately
P7-P9 Target data fusion P27 Shooting position occupied

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 P10 Measuring target position from detecting
P11 Taking measured position manually
P12 Target position and time curve drawing
P13-P15 Threat assessment
P16 Searching with the heading of loss position
P17 Turn into defense phase
P18-P21 Offensive and defensive decision
P22 Judging target maneuvering
TABLE II. Transitions of the Predicated Conditions of the Behavior Decision-Making Petri Net
Transitions Predicate condition
T1 Finding target noise signal
T2 Heading into the course for identification
T3/T4 Target was considered as torpedoes, or surface ships
T5 Target noise signal was judged by multi-targets
T6/T7 Sonar tracking target stably
T8 Target motion analysis
T9 Judging tactical situations
T10-T13 Target in a threat level
T14 Target motion converging
T15 Target losing in maneuvering
T16-T18 Target state for attacking
T19-T20 Target position changes
Note:
P3-P6 are four areas of target comprehensive
identification process respectively. P7-P9 are three kinds of
information processing mode during the process of target
data fusion. P18-P21 are four factors of attacking judgment
including tactical situations, environment, weapons and
mission. P13-P15 are three factors of threat assessment, such
as threat time calculating, exposure index calculating and
damage probability calculating. P35-P39 are different guided
modes for wire-guided torpedoes in the process of wire-
guiding. T16-T18 are states of target attacking for submarine
entity.
C. The Demonstration of the Behavior Decision-Making
Models of Petri Net of Submarine Torpedo Attacking
As Figure 1 shown, the submarine entity is in the ready
state of P1, having found the target noise signal, Petri Net
starts, which means that the instantaneous transition T1 gets
activated. If T2 starts, the concurrent places P3, P4, P5 will
occur at the same time. T3 and T4 will form one competition
transition group. If the target is a coming torpedo, the
corresponding transition T3 will occur. If T4 occurs, the
submarine entity can identify the attributes of the target,
which enables P6. Similarly, as a group of competition
transition, only one of T6 and T7 could occur.
If the target noise signal is recognized as multi-targets,
the transition of the predicated conditions T5 will occur, and
then the concurrent P7-P9 are enabled simultaneity.
Particularly when P6 and P12 are enabled, the transition T9
will start, and then the synchronous behavior P13-P15 takes
place at the same time. It is necessary to point out that if T3
gets activated, P13 and P17 will be enabled one after another.
T10-T13 is a group of four transitions of the predicated
conflict, the right transition in line with the associated
predicate condition was started. If one of the transitions T10
or T11 was started, the place P17 enabled. Oppositely the
synchronous behavior P18-P21 got activated at the same
time, which means submarine entity got into target attacking
P28 Acoustic Warfare
P29 Turn into avoiding maneuvering
P30 Torpedo attack parameter calculating
P31 Turn into the speed and course for launch
P32/P33 Shooting with accurate / approximate parameter
P34 Torpedo parameters setting
P35-P39 Guiding method for wire-guided
Transitions Predicate condition
T21 Shooting position selected
T22/T23 Whether target can be attacked fully
T24 Target in the forefront of threat assessment
T25 The probability of damage computing
T26 Torpedo types and guided determined
T27 Target motion hardly converging
T28 Torpedo shooting complete
T29 Sonar distinguish with torpedo and target stability
T30 Sonar distinguish with torpedo and target fuzzy
T31-T32 Whether torpedo find target
T33 Loss of the tail during self-guided
T34 Wake homing torpedo hit the target
decision. As transition of mutually exclusive predicate T16-
T18, if T16 or T17 occurred, the concurrent occurrence of
acts P23 and P24 enabled in order to carry out offensive and
defensive decision. Torpedo attacking got ready, and then the
concurrent acts P30 and P31 took place, the transition T28
and place P34 got activated respectively.
The transition of predicated conditions at the periods of
parameter setting before torpedo launching was transformed
by the competition transition T14 and T15 started by place
P12. If the maintained sonar continues detecting on the target,
the submarine entity could judge whether target is
maneuvering based on target motion analysis, which might
be finished by the transition of mutually exclusive predicated
T19 and T20. If the target has maneuvered and been
confirmed, place P25 starts, oppositely transition T19 and
T28 will occur in succession. Thus the place P34 starts,
which means torpedo is ready to conduct the attack. The
submarine entity might launch torpedo. During the guiding
process of the torpedo, the transition gets activated when
torpedo hits the target. Then all of the behavior decision-
making models have been achieved during the submarine
torpedo attacking. The submarine might go on for searching.
IV. REALIZATION OF THE PETRI NET MODEL FOR
TORPEDO ATTACKING SIMULATION PROCESS
In this paper, a platform based on HLA for submarine
torpedo attack against the target surface ships has been built
for modeling and simulating in terms of tactical behavior
decision-making. A visual behavior decision-making model
has been made through a friendly interface to achieve the
operations discussed in the running of process model with
the description of Petri Net, as is shown in Figure 2.
With the use of multi-threading technology, messages
and events, the simulation with tactical behavior decision-
making process of submarine torpedo attacking surface ship
has been achieved. On this basis, the rules and courses of
submarine operation can be refined by replacing the structure
of Petri Net, as is shown in Figure 3.
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Figure 2. The Interface of the Petri Net Description for Submarine
Torpedo Attacking Behavior Decision-Making
Based on the discussion above, we can clearly see the
simulation of the torpedo attack process by submarine CGF.
As tactical situation and target are different in each running,
the scanning sequence of Petri Net model is not the same.
The simulation, analyzing and recording the attacking
process are conducted under the typical circumstances based
on main submarine and warship combat skill parameters
currently in duty. In the course of submarine attack, the
submarine entity is able to turn to the azimuth direction after
finding the target, to distinguish attributes and types of the
target, and perform threat assessment, to carry out offensive
and defensive decision. After a series of decision-making
process, submarine launches wire-guided torpedoes. At the
same time, the target motion analyses, wire-guided seeker as
well as other tactical maneuvering factors are performed.
Until the remote control and sensing with wire guidance find
the target hint, the torpedo will turn into self-guided. Under
other circumstances, the torpedo is guided manually with
opportunity of method and with the principle on each stage.
Figure 3. The Interface of Operation Rule Editor of Petri Net
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V. CONCLUSION
As Petri Net has strong expression ability in describing
the relationship between concurrent and asynchronous
discrete event systems, it’s an effective way to make a model
for submarine CGF behavior of decision-making. In this
paper, the tactical rules of submarine torpedo attack are
associated with expanding Petri Net and database. A variety
of tactical acts can respond to different tactical situation and
the tactical state of target which are described by scanning
different order of Petri Net. The solution of the conflict
transitions and the meaning of the concurrent behaviors are
thus established. The countermeasures of the circumstances,
which are that target is a coming torpedo, the lost target is
being searched and the target is maneuvering, are discussed.
The intelligent decision-making without manual control in
the simulation for submarine torpedo attacking has been
realized. By changing the initial elements of Petri Net
without changing the underlying code, the purpose of
transforming operation rules of submarine can be fulfilled
primarily. Thus a theoretical basis has been set up for further
study in tactical decision-making model in the process of
submarine torpedo attack.
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