Name
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. |
Year | DOI | Venue |
|---|---|---|
2011 | 10.1109/ICRA.2011.5979989 | ICRA |
Keywords | Field | DocType |
data communication,data transmission mechanisms,time-varying systems,7 dof manipulator,target tracking,visual servoing,switching control law,visual feedback,feedback,sending rate scheduling strategy,distributed computational power,cloud image processing platform,distributed parameter systems,performance-oriented networked visual servo control,manipulators,telecommunication control,networked control systems,robot vision,varying feedback delay,image processing,servo control,degree of freedom,visualization,control systems,servers,network visualization,data transmission,control system,distributed computing | Data transmission,Computer science,Scheduling (computing),Control theory,Networked control system,Image processing,Control engineering,Real-time computing,Visual servoing,Servo control,Control system,Tracking error | Conference |
Volume | Issue | ISSN |
2011 | 1 | 1050-4729 |
ISBN | Citations | PageRank |
978-1-61284-386-5 | 1 | 0.37 |
References | Authors | |
12 | 5 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Haiyan Wu | 1 | 52 | 6.04 |
| Lei Lou | 2 | 40 | 4.28 |
| Chih-Chung Chen | 3 | 62 | 7.57 |
| Sandra Hirche | 4 | 961 | 106.36 |
| Kolja Kühnlenz | 5 | 430 | 40.87 |