Step 1: 𝛼 , 𝛽 , and 𝛾 angles are computed, based on the position of
the beacons received from the Image Processing application.
(The angles are confined to [ 𝜋 , 𝜋 ] )
Step 2: Feedback parameters ( 𝑒 , 𝜃 1 , 𝜃 2 ) are computed,
Step 3: Control signals ( 𝑣 , 𝑤 ) are computed, based on
equations (25),(26).
Step 4: If the control signals exceed their limits, they are set
to their maximum allowable values.
Step 5: The computed control signals are scaled, and sent to the
control-board.
Step 6: Once a new image frame arrives, Steps 1–5 are repeated.
Algorithm 2: The control algorithm to steer the robot.