Path Planning of a Networked Robot Using Camera Feedback to Minimize Computational Time
Ratish Kumar, Rajiv Kumar, M. J. Nigam · 2019
Networked Control System (NCS) is a feedback control system with control loops closed via a communication network. Now-a-days, NCS is being used to simplify various tasks in space exploration, aviation, transportation, disaster management and healthcare sector etc. NCS provides us the greater autonomy of remote monitoring in geographically distributed mobile robots. In the field of robotics, NCS facilitated robots are being used to execute various challenging tasks. In this paper various camera monitored optimum path planning for Networked Control Robot have been presented. It has been observed that performance of these tasks highly depends upon the computational time taken by the controller. The computational time is the time required by a controller to execute the path planning of the robot from the images captured by camera-sensors. Therefore, in order to minimize total end-to-end delay between camera-sensor and moving robot, the computational time taken by the controller at remote end must be as minimum as possible for the real-time performance. The simulations of various image processing approaches have been performed using Matlab 2019a. In order to decide a suitable path planning approach, experimental results have been illustrated and discussed in Section III.