A smart node architecture for adding mobility to wireless sensor networks

Adding a few mobile nodes into the conventional wireless sensor networks can greatly improve the sensing and control capabilities of the networks and can help researchers solve many challenges such as network deployment and repair. This paper presents an enhanced node architecture for adding controlled mobility to wireless sensor networks. The structural model, the power model and the networking model of the proposed mobile node have been built respectively for better node control. And it provides a novel robotic platform for experimental research in hybrid sensor networks or other distributed measurement and control systems. A testbed has finally been created for validating the basic functions of the proposed mobile sensor node. The results of a coverage experiment show that the mobile node can provide additional support for network coverage and can ensure that the sensor network will work properly in undesirable environments.