Research Article

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

Figure 6

The first step: the robot trajectory. (a) The initial configuration is ; (b) the initial configuration is . DC is the desired configuration, FIC is the intermediate configuration of the first step, and IC is the initial configuration. Both figures show that the orientation of the robot is towards (the orientation of desired configuration). In this step, the robot is moving from IC to SIC.
(a) Initial configuration
(b) Initial configuration