受限网络带宽下遥操作机器人的视频传输控制

针对搭载多个视像传感器的遥操作机器人系统,提出一套适用于遥操作系统网络应用层的视像传输带宽分配算法.根据遥操作机器人当前执行的任务计算得到各视像的传输权重,采用多目标优化方法,在总传输数据量不超过系统传输带宽的前提下,依据权重公平将传输带宽分配给各个视像传感器.该算法对于带宽受限的传输网络,通过修改视像采集分辨率与帧率达到控制传输带宽的目的,避免了因网络拥堵导致的传输丢帧现象,从而保障传输视像的实时性和完整性,使系统可以依赖于视觉图像质量完成遥操作任务.设计的算法已运用于实际变电站环境中的巡检机器人,为系统提供流畅完整的视频传输服务,验证了算法的实用性.

Video Transmission Control Under Limited Network Bandwidth for Robot Teleoperation

Abstract： This paper presented a bandwidth allocation algorithm for video transmission in robot remote control system. There are multiple video sensors equipped on the robot. The transmission weight of each video was calculated according to the current tasks being executed by the robot. In multi objective optimization, the algorithm distributeed the transmission bandwidth fairly to each video sensor based on their weight, and could guarantee that the total transmission bandwidth never exceeds the transmission bandwidth provided by the network. The transmission bandwidth was controlled by modifying the resolution and frame rate of the video acquisition. The algorithm reduced the lose rate of frames caused by network congestion, thus protects the integrity of real time video, makes the teleoperation tasks of the system complete which depend on the visual image quality. The algorithm is tested by inspection tasks in an actual power plant environment. Smooth video transmission service has been provided and the practicability of the algorithm is also verified.