Research And Design Of Computing Offloading For Cloud Robotic System

With the development of science and technology,robots have become an integral part of human society,the contradiction between the demand for high computing resources of various robot services and limited onboard resources has become increasingly prominent.The concept of cloud robotics system enables the robot to obtain unlimited computing and storage resources in the cloud through cloud computing,also can improve the service ability of robots.Computing offloading is an important feature of cloud robotics,it is an effective means to realize tasks offloading and slove above contradiction.Nowadays,the research of cloud robotics system focus on the design of cloud service system,with the explosive growth of data in edge device makes the central cloud have to face with communication challenges such as time delay in service response,data loss,pressure on bandwidth and so on;Secondly,wireless network environment can be complex and changeable,how to ensure the stable offloading of robot computing tasks is a decision-making challenge for computing offloading in cloud robotics system;Finally,how to design and implement a computing offloading prototype system suitable for group robots under the existing computing offloading decisions,it is an urgent need to be solved in the development of cloud robot system.To solve the above problems,combined with the architecture of cloud robotics,this paper studies computing offloading decision algorithm and feasibility system design.The main work and innovative achievements of this paper are as follows:(1)Firstly,the concept of edge computing is introduced into cloud robotics,this paper analyzed the problem of computing offloading in cloud robotics system according to the interactive mode of task offloading.The cost functions of task execution on the local and edge sides has established respectively with the evaluation indexes of time delay and energy consumption.Secondly,the competition process between the robot and the edge cloud server is modeled as a Stackelberg game model,the game process is decomposed into two-stage game problems by using the reverse induction method.The optimal offloading strategy solution of the robot and the optimal price strategy solution of the edge cloud are solved.Finally,a dynamic programming algorithm based on Hamming distance is designed to solve the final offloading decision result of the computing task.The simulation results show that the proposed method can reduce the computing cost of the robot effectively,reduce the total task execution time and energy consumption,and maximize the revenue of the edge cloud under the limitation of limited resources.(2)For the feasibility prototype system research of cloud robotics system,based on the result of tasks offloading decision,taking the Simultaneous Localization and Mapping on robot as an example,this paper analyzes the problems appeared in the process of deploying SLAM task on the resource limited robot.By the improving the ORB-SLAM algorithm,part of the computing tasks are migrated to the edge cloud for execution,and the resources in the edge cloud are used to accelerate the computing tasks.The performance of the improved algorithm and the possible computing offloading strategy are analyzed.Combined with relevant literature and software,the prototype system of computing offloading of robotics is designed.Under the condition of stability and real-time performance of robot task execution to the greatest extent,the advantages of edge collaborative computing are fully used to save the cost of local computing and memory resources.The feasibility and efficiency of the above prototype system are proved by experiments,and it also plays a positive role in improving the overall efficiency and service quality of the robot system and reducing the hardware requirements of the robot.