Algorithm 2 Pseudocode of the visual-servo control of the mobile platform

While (true) {

$\mathrm{Calculate} \mathit{s}=\left({}^{m^{*}}\mathit{t}_m, \theta \mathbf{u}\right)$$, {\mathit{s}}^{*}=\left(0, 0\right)$;

$\mathrm{Calculate} \mathit{e}=\mathit{s}-{\mathit{s}}^{*}=\left({}^{m^{*}}\mathit{t}_m, \theta \mathbf{u}\right)$;

$\mathrm{if} (\left|e(0)\right|<0.005 \&\& \left|e(1)\right|<0.005$) {

$\mathrm{if} (\left|e(5)\right|<0.01$) {

break;

}

else {

$e(5)=s(5)-s^{*}(5)$;

$\left(\begin{array}{c}\mathit{v}\\ \mathit{w}\end{array}\right)=-\lambda {{\mathit{J}}_m}^{+}{\mathit{W}}_m{{\mathbf{L}}_e}^{+}\mathit{e}$;

$Cmd(\mathit{v}, \mathit{w})$;

}

}

else {

$e(5)=R{z}_{Mobi}-{\tan }^{-1}(e(1)/e(0))$;

$\left(\begin{array}{c}\mathit{v}\\ \mathit{w}\end{array}\right)=-\lambda {{\mathit{J}}_m}^{+}{\mathit{W}}_m{{\mathbf{L}}_e}^{+}\mathit{e}$

$Cmd(\mathit{v}, \mathit{w})$;

}

}