A framework of networked visual servo control system with distributed computation
Publication: Research - peer-review › Article in proceedings – Annual report year: 2010
External
In this paper, a networked visual servo control system with distributed computation is proposed to overcome the low sampling rate problem in vision-based control systems. A real-time image data transmission protocol based on Realtime Transport Protocol (RTP) is developed. The captured images are sent to different processing nodes connected over a communication network and processed in parallel. Thus, a high sampling rate of the visual feedback is achieved under a cloud image processing architecture. The varying image processing delay caused by the varying number of extracted features and the random transmission delay are modeled as a random process with Bernoulli distribution. By using the input-delay approach, the resulted networked visual servo control system is reformulated into a stochastic continuous-time system with time-varying delay. Experiments on two 1-DoF linear motor modules are carried out to validate the proposed approach. A visual servo control system without parallel distributed computation is implemented for comparison. The experimental results demonstrate significant performance improvement by the proposed approach.
| Original language | English |
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| Title | Proceedings of the 11th International Conference on Control, Automation, Robotics and Vision : ICARCV 2010 |
| Publisher | IEEE |
| Publication date | 2010 |
| Pages | 1466 - 1471 |
| ISBN (print) | 978-1-4244-7813-2 |
| DOIs | |
| State | Published |
Conference
| Conference | International Conference on Control Automation Robotics & Vision |
|---|---|
| Number | 11 |
| Country | Singapore |
| City | Singapore |
| Period | 07-12-10 → 10-12-10 |
| Citations | Web of Science® Times Cited: No match on DOI |
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