By Topic

Cloud-Based Networked Visual Servo Control

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

5 Author(s)
Haiyan Wu ; Department of Electrical Engineering, Technical University of Denmark, Kgs. Lyngby, Denmark ; Lei Lou ; Chih-Chung Chen ; Sandra Hirche
more authors

The performance of vision-based control systems, in particular, of highly dynamic vision-based motion control systems, is often limited by the low sampling rate of the visual feedback caused by the long image processing time. In order to overcome this problem, the networked visual servo control (NVSC), which integrates networked computational resources for cloud image processing, is considered in this paper. The main contributions of this paper are the following: 1) a real-time transport protocol for transmitting large-volume image data on a cloud-computing platform, which enables high-sampling-rate visual feedback; 2) a stabilizing control law for the NVSC system with time-varying feedback time delay; and 3) a sending rate scheduling strategy aiming at reducing the communication network load. The performance of the NVSC system with sending rate scheduling is validated in an object-tracking scenario on a 14-DOF dual-arm robot. Experimental results show the superior performance of our approach. In particular, the communication network load is substantially reduced by means of the scheduling strategy without performance degradation.

Published in:

IEEE Transactions on Industrial Electronics  (Volume:60 ,  Issue: 2 )