New approach to enhancing the performance of cloud-based vision system of mobile robots. (March 2019)

• Record Type: Journal Article
• Authors: Badawy, Mahmoud; Khalifa, Hisham; Arafat, Hesham
• Is Part Of: Computers & electrical engineering. Volume 74(2019)
• Page Start: 1
• Page End: 21
• Publication Date: 2019-03
• Subjects: 3D point cloud -- Cloud computing -- Cloud robotics -- Computer vision -- Computation offloading -- Mobile robot -- Real-time networking -- Stereo vision; Computer engineering -- Periodicals; Electrical engineering -- Periodicals; Electrical engineering -- Data processing -- Periodicals; Ordinateurs -- Conception et construction -- Périodiques; Électrotechnique -- Périodiques; Électrotechnique -- Informatique -- Périodiques; Computer engineering; Electrical engineering; Electrical engineering -- Data processing; Periodicals; Electronic journals; 621.302854
• DOI: 10.1016/j.compeleceng.2019.01.001
• Languages: English
• ISSNs: 0045-7906

Abstract

Abstract: Mobile robots require real-time performance, high computation power, and a shared computing environment. Although cloud computing offers computation power, it may adversely affect real-time performance owing to network lag. The main objective of this study is to allow a mobile robot vision system to reliably achieve real-time constraints using cloud computing. A human cloud mobile robot architecture is proposed as well as a data flow mechanism organized on both the mobile robot and the cloud server sides. Two algorithms are proposed: (i) A real-time image clustering algorithm, applied on the mobile robot side, and (ii) A modified growing neural gas algorithm, applied on the cloud server side. The experimental results demonstrate that there is a 25% to 45% enhancement in the total response time, depending on the communication bandwidth and image resolution. Moreover, better performance in terms of data size, path planning time, and accuracy is demonstrated over other state-of-the-art techniques.