Applications Of ARM CPU In The Mobile Actuator-Sensor Networks

Recently, the requirement of the applications on:Envionment supervisal, Path planning in the riskiness area,and for the rescues to the Injured-persons.Had greatly attracted the Researchers pay attentions to the the study of the Mobile Actuator-Sensor Networks (MAS-net).So in order to carry out these works,a TEST platform based on Lab entironment but with the fully characteristic of the MAS-net was seriously needed.Meanwhile,at the will of learning and grasping the Advanced technology in the field of the Embedded system research and development.The ARM interrelated technology, also want to take the advantage of these technology to the study of MAS-net.This dissertation focus on the task of designing a MAS-net platform based on ARM7 cpu.Emphasis the basic structure and the communications requirement of the MAS-net,also on the specialty for ARM7 R&D.In the dissertation, first analyzes the architecture and anticipanted capability of the objected MAS-net.Then go deep into analyzing the foundation of the MAS-net, both for the hardwar and the software of the MAS-net node platform. Based on which,makes a study on the ARM7 control citcuit,Communication circuit,Sensor and Motor control circuit.Also on the MAS-net supported software supported by ARM7 LOW-level drivers,Embedded Operation system and Communication protocol for Networks.After which.designe the PCB for the nod platform.Complete the ARM7 LOW-level driver software by ARM ASM language,complete the application software which contain the characteristic of OS.Also the Modbus-RTU communication protocol by C language.At the chapter six,makes some theoretics research on the method of Path planning and navigation based on Artificial PotentialField(APF) theory and assume an actual arithmetic for the node platform which designed by this dissertation.A summarize is made at the end of the dissertation.