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

is the angle between and -axis.
is the distance between the second intermediate configuration and desired configuration as in Figure 10 SIC → DC.