Design for mobile node of sensor networks based on embedded arm-linux

This paper introduces a design for mobile node of sensor networks using robot. The robot is composed of micro processor module based on AT91RM9200, Bluetooth module, wireless network card (SISCO AIR-PCM350), GPS module, mobile base and motionless Bluetooth sensor node distributing module. Embedded arm-linux OS installed on micro processor module based on AT91RM9200 makes it have the ability of processing several task at the same time. And the ad hoc route protocol named aodv-uu installed on it makes robots can facility structure an ad hoc WLAN. Executing the commands received from control center it distributes motionless Bluetooth sensor nodes to structure Bluetooth sensor networks. Then, it can apperceives environment by gathering the data of the motionless Bluetooth sensor nodes, fuses the data, and send to control center. The robot moving direction and add up error can be correct through GPS information. Experiments results show that robots can work stably, and locating error is less than 3 m. The whole system communication is reliable, and the bandwidth of the network is up to 800 kbps.