Three-Step Epipolar-Based Visual Servoing for Nonholonomic Robot with FOV Constraint

<table>The third step: the robot trajectory. DC is the desired configuration, DC′ is the final configuration, and SIC is the intermediate configuration of the second step. In this step, the robot is moving from SIC to DC′.</table>

Journal of Applied Mathematics

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Figure 10

Figure 10: Three-Step Epipolar-Based Visual Servoing for Nonholonomic Robot with FOV Constraint 