Research Article
Three-Step Epipolar-Based Visual Servoing for Nonholonomic Robot with FOV Constraint
Table 2
Comparison of distance using different strategies.
| Angle ()1 | Distance using strategy of [6] ()2 | Distance using three-step strategy ()2 |
| 120° | 4.0272 m | 4.1498 m | 115° | 4.0250 m | 4.1498 m | 110° | 4.0188 m | 4.1498 m | 105° | 4.0213 m | 4.1498 m | 100° | 4.0271 m | 4.1498 m | 95° | 4.0224 m | 4.1498 m | 90° | 4.1498 m | 4.1498 m | 85° | 5.4232 m | 4.1498 m | 80° | 7.2354 m | 4.1498 m | 75° | 9.1564 m | 4.1498 m | 70° | 18.398 m | 4.1498 m | 65° | 28.657 m | 4.1498 m | 60° | 71.493 m | 4.1498 m | 55° | 184.77 m | 4.1498 m |
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is the angle between and -axis. is the distance between the second intermediate configuration and desired configuration as in Figure 10 SIC → DC.
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