Performance-oriented networked visual servo control with sending rate scheduling

Publication: Research - peer-reviewArticle in proceedings – Annual report year: 2011

Without internal affiliation

  • Author: Wu, Haiyan

    Technische Universität München

  • Author: Lou, Lei

    Technische Universität München, Germany

  • Author: Chen, Chih-Chung

    Technische Universität München, Germany

  • Author: Hirche, Sandra

    Technische Universität München, Germany

  • Author: Kühnlenz, Kolja

    Technische Universität München, Germany

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In order to speed up image processing in visual servoing, the distributed computational power across networks and appropriate data transmission mechanisms are of particular interest. In this paper, a high sampling rate of visual feedback is achieved by distributed computation on a cloud image processing platform. For target tracking with a networked visual servo control system, a switching control law considering the varying feedback delay caused by image processing and data transmission is applied to improve the control performance. A sending rate scheduling strategy aiming at saving the network load is proposed based on the tracking error. Experiments on a 7 degree-of-freedom (DoF) manipulator are carried out to validate the proposed approach. The proposed approach shows a similar control performance as a system without sending rate scheduling, however, beneficially with largely reduced network load.
Original languageEnglish
Title of host publicationIEEE International Conference on Robotics & Automation (ICRA)
Publication date2011
Pages6180 - 6185
ISBN (print)9781612843865
StatePublished - 2011
Externally publishedYes
Event2011 IEEE International Conference on Robotics and Automation - Shanghai, China


Conference2011 IEEE International Conference on Robotics and Automation
LocationShanghai International Conference Center
CitationsWeb of Science® Times Cited: No match on DOI
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ID: 10205561