Autonomous Mobile Arm-based Embedded Systems Research And Development

With the development of computer technology, embedded system, being the center of interest in the rising research in recent years, has been becoming an important component in this field. Operated by embedded applications, apperceived by sensors, communicated through network, embedded productinos will be everywhere in the 21st century. It will bring a dramatic development for us and help us realize the dream of "PCs Everywhere".Nowadays the CPU of ARM architecture is used broadly in the embedded system. It used the RISC technology and owned the character of simple addressing method, large register and fixed length instruction. All of this make it process quickly and efficiently. Because Linux has the character of supporting ARM technology, reduce kernel and open resource code, Linux is used into embedded system and can exert advantage of ARM and Linux.Current research and development of auto-driving robot have attracted the attention of a lot of researchers because it has close relation to many technologies such as embed technology, sensor technology, path planning, artificial intelligence and automatic control. Its possible applications include automatic freeway driving, exploration of unknownregions, service and maintenance in nuclear power station, product transfer in automation factory and etc. The development of it will immensely influence human production and life.This paper discuss the structure of the embedded system firstly, then designs hardware of the system, at the following, the paper shows how to modify kernel configure program of uCLinux to make it support S3C44B0X processor, after this, it accomplish the work of uClinux kernel reduce for ARM structure and kernel recompile to realize transplant of uClinux system based on the hardware. In the end the paper does some research on the method of path planning in a static environment and gets an emulational result.