Publication: Research - peer-review › Article in proceedings – Annual report year: 2010
Without internal affiliation
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.
|Title of host publication||Proceedings of the 11th International Conference on Control, Automation, Robotics and Vision : ICARCV 2010|
|Pages||1466 - 1471|
|Conference||International Conference on Control Automation Robotics & Vision|
|Period||07/12/10 → 10/12/10|
|Citations||Web of Science® Times Cited: No match on DOI|
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