Conference paper
A framework of networked visual servo control system with distributed computation
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.
| Language: | English |
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| Publisher: | IEEE |
| Year: | 2010 |
| Pages: | 1466-1471 |
| Proceedings: | 2010 11th International Conference on Control Automation Robotics & Vision (ICARCV 2010) |
| ISBN: | 1424478138 , 1424478146 , 1424478154 , 9781424478132 , 9781424478149 and 9781424478156 |
| Types: | Conference paper |
| DOI: | 10.1109/ICARCV.2010.5707837 |
Bernoulli distribution Cameras Delay Feature extraction Real time systems Servosystems Visualization cloud image processing architecture communication network computer networks computer vision continuous time systems delay systems distributed computation feature extraction image processing delay input-delay approach linear motor module networked visual servo control system random process random processes random transmission delay real-time image data transmission protocol real-time systems realtime transport protocol sampling methods sampling rate problem stochastic continuous-time system stochastic systems time-varying delay transport protocols vision-based control system visual feedback visual servoing
