Distributed computation and data scheduling for networked visual servo control systems

Haiyan Wu, Lei Lou, Chih-Chung Chen, Kolja Kühnlenz, Sandra Hirche

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

The stability and performance of visual servo control systems strongly depend on the delays caused by image processing. In order to accelerate the visual feedback, the distributed computational power across networks and appropriate data transmission mechanism are of particular interest. In this paper, a novel distributed computation with data scheduling is proposed for networked visual servo control systems (NVSCSs) aiming at improving the control performance. A realtime transport protocol is developed for image data transmission. For a NVSCS which is modeled as a continuous-time system with computation, transmission and holding delays, a switching control law is applied. A probabilistic sampling scheduler is derived such that the control performance and the network load caused by image data transmission are balanced. Experiments on two 1-DoF linear modules equipped with a camera are conducted to validate the proposed approach. A visual servo system without data scheduling is implemented for comparison. The experimental results demonstrate a comparable control performance of the proposed approach with an advantage of reduced network load.
Original languageEnglish
Title of host publicationInternational Conference on Intelligent Robots and Systems : 2010 IROS
PublisherIEEE
Publication date2010
Pages6216 - 6221
ISBN (Print)9781424466740
DOIs
Publication statusPublished - 2010
Externally publishedYes
Event2010 IEEE/RSJ International Conference on Intelligent Robots and Systems - Taipei, Taiwan, Province of China
Duration: 18 Oct 201022 Nov 2010

Conference

Conference2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryTaiwan, Province of China
CityTaipei
Period18/10/201022/11/2010

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