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

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

Journal of Applied Mathematics

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Figure 8

Figure 8: Three-Step Epipolar-Based Visual Servoing for Nonholonomic Robot with FOV Constraint 