3.4.2 Stability Analysis of the Behavior State Machine
In this section, we validate the effectiveness of the hysteresis
execution strategy by recording and comparing the orientation during the
navigation process. The state transitions of the planner can be observed
directly through changes in orientation.
The experiment was conducted in Scenario 3, and the comparison of
orientation changes over time is represented in Fig. 7. Owing to the
substantial disturbances in Scenario 3, frequent transitions occur
between the planner states. The figure clearly illustrates that the
orientation, represented by the blue line, undergoes dramatic changes
due to the absence of a hysteresis strategy. This is particularly
noticeable within the time frames of 33≤\(t\)≤94s and 121≤\(t\)≤185s.
These periods correspond to complex environments that the robot
navigates through.
With the integration of the hysteresis strategy, the changes in
orientation become smoother. The zoomed view in figures (a) and (b)
further illustrates this point. This indicates a more stable state
transition when equipped with a hysteresis strategy.
The comparative test in Scenario 3 thus validates the effectiveness of
the hysteresis strategy in preventing additional state transitions
caused by environmental noise and enhancing system stability.