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

Table 1

Simulation results of final configuration.

Initial configuration	Desired configuration	Final configuration using [6] strategy	Final configuration using three-step strategy
		= 26.9 s	= 11.9 s
		= 30 s	= 12.2 s
		= 30 s	= 9.7 s

The desired configuration coordinate is set by ourselves, so we set without loss of generality. The simulation time is 30 s. means the whole visual servo processing time.