Three-Step Epipolar-Based Visual Servoing for Nonholonomic Robot with FOV Constraint
Figure 9
The second step. (a) The epipole of current configuration and the epipole of desired configuration in the second step. The and will be zero in finite time. (b) The linear velocity of the robot and angular velocity of the robot in the second step.
(a) The epipole of current configuration and desired configuration
(b) The linear velocity of the robot and angular velocity of the robot