| Step 1: The position of the via points (for point , ) |
| is pre-defined in the algorithm (Figure 7(b)). Detection flag (D-Flag) |
| and Point-Flag (P-Flag) are two status flags to determine the status |
| of the robot. P-Flag indicates the next via point that should be |
| reached. D-Flag indicates if the via points are followed. |
| Step 2: |
| If and and D-Flag = 0, then P-Flag = 1 and D-Flag = 1. |
| If and and D-Flag = 0, then P-Flag = 2 and D-Flag = 1. |
| If and and D-Flag = 0, then P-Flag = 5 and D-Flag = 1. |
| Step 3: If P-Flag = , , and . |
| So, the calculation of feedback parameters is changed. |
| Step 4: The control algorithm (Algorithm 2) is then followed |
| to reach the specified via point. |
| Step 5: |
| If P-Flag = 4, then steer to the actual target frame. |
| If P-Flag = 3 and , then P-Flag = 4. |
| If P-Flag = 6 and , then P-Flag = 4. |
| If P-Flag = 2 and , then P-Flag = 3. |
| If P-Flag = 5 and , then P-Flag = 6. |
| If P-Flag = 3 and , then P-Flag = 4. |
| If P-Flag = 1 and , then P-Flag = 2. |
| Step 6: Steps 2–5 are repeated once a new image frame arrives. |
