Step 1: The position of the via points (for point , ) |

is pre-defined in the algorithm (Figure 7(b)). Detection flag (D-Flag) |

and Point-Flag (P-Flag) are two status flags to determine the status |

of the robot. P-Flag indicates the next via point that should be |

reached. D-Flag indicates if the via points are followed. |

Step 2: |

If and and D-Flag = 0, then P-Flag = 1 and D-Flag = 1. |

If and and D-Flag = 0, then P-Flag = 2 and D-Flag = 1. |

If and and D-Flag = 0, then P-Flag = 5 and D-Flag = 1. |

Step 3: If P-Flag = , , and . |

So, the calculation of feedback parameters is changed. |

Step 4: The control algorithm (Algorithm 2) is then followed |

to reach the specified via point. |

Step 5: |

If P-Flag = 4, then steer to the actual target frame. |

If P-Flag = 3 and , then P-Flag = 4. |

If P-Flag = 6 and , then P-Flag = 4. |

If P-Flag = 2 and , then P-Flag = 3. |

If P-Flag = 5 and , then P-Flag = 6. |

If P-Flag = 3 and , then P-Flag = 4. |

If P-Flag = 1 and , then P-Flag = 2. |

Step 6: Steps 2–5 are repeated once a new image frame arrives. |