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Cloud robot edge computing unloading model and unloading method thereof

A technology of edge computing and robotics, applied in computing, reasoning methods, computer parts, etc.

Active Publication Date: 2020-08-11
XIAN TECHNOLOGICAL UNIV
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Problems solved by technology

[0006] The present invention provides a cloud robot edge computing offloading model and its offloading method to solve the problem of fine-grained offloading of tasks in the multi-user multi-edge server scenario

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  • Cloud robot edge computing unloading model and unloading method thereof
  • Cloud robot edge computing unloading model and unloading method thereof
  • Cloud robot edge computing unloading model and unloading method thereof

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Embodiment Construction

[0065] The present invention will be described in detail below by specific embodiment:

[0066] A cloud robot edge computing offloading model, including edge server placement model, local and edge server processing task model and game theory model:

[0067] 1. Build an edge server placement model

[0068] The objective function is shown in formula (1):

[0069]

[0070] sload is the workload of the edge server, sload i Indicates the workload of edge server i, and S(load) is the difference in the number of cloud robots served by edge servers, indicating the degree of load balancing. The network delay of the cloud robot accessing the edge server is represented by D(delay), and the delay is measured by the distance from the cloud robot to the edge server;

[0071] Suppose there is a cloud robot u i , its location is at uc i , an edge server sed j , its location in sedc j , then use dis(uc i ,sedc j ) represents the distance between the cloud robot and the edge server;...

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Abstract

The invention relates to a cloud robot edge computing unloading model and an unloading method thereof. According to the technical scheme provided by the invention, the method comprises the steps thatfirstly, an edge server placement model is established, then local and edge server task processing models are established, and then a game theory model is established; an initial clustering center isdetermined; clustering is performed according to the target function; and unloading is carried out by a task unloading method based on an improved game theory algorithm. On one hand, research is carried out from the placement problem of the edge server, an improved k-means algorithm is provided in a many-to-many scene of the cloud robot and the edge server, and the problems that the workload pressure of a single edge server is too large and the task processing efficiency is low are solved; and on the other hand, on the basis of edge server placement research, for the problem of partial task unloading of the heterogeneous cloud robot, fine-grained segmentation is carried out on the tasks, an improved game theory algorithm is provided, an optimal unloading strategy is researched, the energyconsumption of the cloud robot is reduced, and the task completion time is shortened.

Description

Technical field: [0001] The invention belongs to the technical field of edge computing, and relates to a cloud robot edge computing unloading model and an unloading method thereof. Background technique: [0002] The world is undergoing a new round of changes, especially the development of the Internet, which provides a strong impetus for the innovation and reform of robots. The application fields of robots continue to expand, such as in smart cities, smart homes, Internet of Vehicles, and smart building control. At the same time, with the emergence of a large number of complex and diverse services, higher requirements are placed on machines and equipment. Today's science and technology are also developing at a high speed. The computing and storage capabilities of robot hardware devices have been improved to a certain extent, but they are still far from meeting business needs. In order to solve this contradiction, Professor James Kuffner of Carnegie Mellon University propose...

Claims

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Application Information

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IPC IPC(8): G06F9/50G06K9/62G06N5/04
CPCG06F9/5088G06F9/5072G06N5/042G06F2209/509G06F2209/502G06F18/23213
Inventor 徐飞秦增适谢悦杨卫霞
Owner XIAN TECHNOLOGICAL UNIV
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