Performance-oriented networked visual servo control with sending rate scheduling

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

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

Abstract

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)
PublisherIEEE
Publication date2011
Pages6180 - 6185
ISBN (Print)9781612843865
DOIs
Publication statusPublished - 2011
Externally publishedYes
Event2011 IEEE International Conference on Robotics and Automation - Shanghai International Conference Center, Shanghai, China
Duration: 9 May 201113 May 2011

Conference

Conference2011 IEEE International Conference on Robotics and Automation
LocationShanghai International Conference Center
CountryChina
CityShanghai
Period09/05/201113/05/2011

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