Pioneer 2 / PeopleBot manual Pioneer Legacy, Pioneer 2 and PeopleBot

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ActivMedia Robotics

much of the ActivMedia Robotics Basic Suite and many other ventures. The complete, licensed Saphira robotics development environment, including C/C++ libraries, GUI interface and Simulator, comes bundled with your ActivMedia robot.

The Pioneer Legacy

Commercially introduced in August of 1995, Pioneer 1 was the original Pioneer platform. It introduced a single-board 68HC11-based robot microcontroller and the Pioneer Server Operating System (PSOS) software. It’s low-cost and high-performance caused an explosion in the number of researchers and developers who now have access to a real, intelligent mobile robotic platform.

Pioneer 1

Intended mostly for indoor use on hard, flat surfaces, the Pioneer 1 has solid rubber tires and a two-wheel differential, reversible drive system with a rear caster for balance. The Pioneer 1 came standard with seven sonar range finders (two side-facing and five forward-facing) and integrated wheel encoders.

Software-wise, the Pioneer 1 initially served as a platform for SRI International's AI/fuzzy logic-based Saphira robotics applications development. But it wasn't long before it's open architecture became the popular platform for the development of a variety of alternative robotics software environments.

Many developers created software that interfaced directly with PSOS. Others extended the capabilities of Saphira (PAI and P-LOGO are two good examples), while others have implemented alternative robotics-control architectures, such as the subsumption-like Ayllu.

Functionally and programmatically identical to the Pioneer 1, the four-wheel drive, skid-steering Pioneer AT was introduced in the Summer of 1997 for operation in uneven indoor and outdoor environments, including loose, rough terrain.

Except for the drive system, there are virtually no operational differences between the Pioneer AT and the Pioneer 1: The integrated sonar arrays and microcontrollers are the same. The accessories available for the Pioneer 1 also work with the Pioneer AT. Further, applications developed for the Pioneer 1 work with little or no porting to the Pioneer 2s.

Pioneer 2 and PeopleBot

Figure 6. All ActivMedia robots may be configured with a variety of integrated accessories, including (DX shown here) a very high- performance laser range- finder and robotic pan-tilt- zoom color camera with onboard PC and framegrabber for color- tracking and surveillance.

The next generation of Pioneer Mobile Robots—including the Pioneer 2-DX, -CE, and -AT, introduced in Fall 1998 through Summer 1999, improved upon the Pioneer 1 legacy while retaining its many important advantages.3 Indeed in most respects, particularly with applications software, Pioneer 2 works identically with Pioneer 1 models.

3Price/performance ratio included! The much more capable and expandable Pioneer 2 was introduced four years later for just a few hundred dollars (US) more than the original Pioneer 1.

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Contents Pioneer 2 / PeopleBot TM Page Important Safety Instructions Table of Contents Pioneer 2 Operating System Appendix C Robot Package IntroductionBasic Components all shipments Optional Components and Attachments partial listUser-Supplied Components / System Requirements Additional ResourcesSoftware NewsgroupsSupport@activmedia.com SupportClient Software What Is Pioneer?ActivMedia Robotics Basic Suite Http//robots.activmedia.comSaphira AriaPioneer Pioneer LegacyPioneer 2 and PeopleBot Page Modes of Operation Physical Characteristics Specifications & ControlsMain Components Pioneer 2-AT Console and hinged Deck Decks and ConsoleBody, Nose, and Accessory Panels Sonar Arrays with Gain Adjustment Electronics Batteries and PowerMotors and Position Encoders Controls, Ports, and Indicators Reset and Motors Liquid-Crystal Display & Contrast AdjustmentSerial Pioneer 2 Arm-related SIPs and Commands Safety Watchdogs and ConfigurationPeopleBot Sensors and Emergency Stop Saphira Client Installation Preparative AssemblyQuick Start Http//robots.activmedia.comRobot Cold Start-Up Saphira Client Start-UpSET SAPHIRA=C\Saphira\ver62 Export DISPLAY=remotecomputer0Successful Connection Starting Client-Server CommunicationsConnected Operating the Saphira Demonstration ClientQuickstart Troubleshooting Quick Start Joystick Connection Joydrive and Self-TestsJoydrive Operation Motors Test Engaging Self-TestsPress again to begin tests Left forward 13.2Bumpers Sonar TestGripper CompassAnalog Tests Digin and Digout TestUser PWMs Digin DigoutCommunication Packet Protocol Pioneer 2 Operating SystemPacket Data Types Packet ErrorsPacket Checksum Name Data Type Description Server Information Packets Client CommandsBefore Client Connection Ptupos Client Command Argument TypesAutoconfiguration Saphira Client Command SupportProgramming P2OS Establishing a Client-Server Connection-SYNCKeeping the Beat-PULSE Movement CommandsClosing the Connection-CLOSE PID Controls Pioneer in MotionPosition Integration SonarSfRobotComInt44,1 Estop and EstallExtended Packets CONFIGpac and Config CommandPacket Processing SERAUXpac and Getaux PLAYLISTpac and Playlist Command ENCODERpac and Encoder CommandGRIPPERpac and Griprequest Checksum Integer Computed checksumDIGIN, TIMER, and Adsel TCM2pac and TCM2 CommandInput / Output I/O SfSMessageDigin is %i,sfRobot.diginIOpac and Iorequest Digout and PsuposPerformance PeopleBot IRs Where to Get P2OS Software Updating & Reconfiguring P2OSInstalling the P2OS Utilities Updating P2OSPut Microcontroller into Download Mode Enable FlashDownload Troubleshooting Run p2osdlSteps 1-3 Preparing for Configuration Configuring P2OS Operating ParametersChanging Configuration Parameters Run p2oscfEditing P2OS Parameters Arm Parameters Saving and RestoringSave C\p2os\myP2DX Keyword Encoder and Revcount PID ParametersParameter DXe Performance PB Calibration Tools revcountcal and compasscalCompasscal /dev/ttyS3 Drive Lubrication Maintenance & RepairBatteries Getting Inside Alternative Battery ChargersRemoving the Nose Remove indicated screws to remove Original Pioneer 2-AT Deck Opening the DeckSupport@activmedia.com 603 924-2184 fax 603 924-9100 voice Factory RepairsC166 Controller Ports & Connections Appendix aUser I/O Expansion Port Internal Serial ConnectorsPin Label Use Performance PeopleBot I/OGeneral I/O Bus Power Switch J7 and Delayed Shutdown Logic User Power ConnectionsAppendix B Onboard Computer OptionComputer Power Power-State LogicAppendix C Joystick ConnectorAppendix D SpecificationsControls and Ports Controls IndexSpecifications Warranty & Liabilities Page Concord Street Peterborough, NH 603

2 / PeopleBot specifications

Pioneer 2, also known as PeopleBot, is an advanced mobile robot platform heralded for its versatile design and robust capabilities. Developed by the renowned robotics company Adept Technology, Pioneer 2 has become a staple in the field of mobile robotics, widely utilized for research, education, and practical applications in various industries.

One of the standout features of Pioneer 2 is its exceptional mobility. The robot is equipped with differential steering, allowing it to navigate complex environments with precision. Its compact and sturdy chassis enables it to traverse a variety of terrains, making it suitable for indoor and outdoor exploration. This mobility is further enhanced by an adaptable wheel configuration, allowing for smooth movement even over obstacles.

In terms of technologies, Pioneer 2 is outfitted with an array of sensors that facilitate autonomous navigation and obstacle avoidance. These sensors include laser range finders, infrared sensors, and bumpers, which work in tandem to map the surrounding environment and detect potential hazards. This capability is critical for applications in areas such as warehouse automation or reconnaissance tasks, where safe navigation is paramount.

Pioneer 2 also supports extensive software frameworks, notably the Robot Operating System (ROS). This compatibility allows researchers and developers to leverage a vast library of tools and algorithms, expediting the process of programming and deploying robotic applications. Additionally, the platform can be integrated with various payloads, such as cameras or grippers, expanding its functionality further.

Another significant characteristic of Pioneer 2 is its user-friendly design. The robot comes with an easy-to-use programming interface that empowers users with varying levels of expertise to engage with the technology. Educational institutions often employ Pioneer 2 in robotics courses to provide students with hands-on experience in programming and operating robotic systems.

Powering Pioneer 2 is a rechargeable battery system that ensures extended operation times. This feature is particularly advantageous for fieldwork applications where connectivity to a power source may not be readily available. Importantly, the robot’s modular design facilitates maintenance and upgrades, allowing users to keep their systems current with advances in technology.

Overall, Pioneer 2 (PeopleBot) exemplifies innovation in mobile robotics with its outstanding mobility, advanced sensing technologies, compatibility with leading software frameworks, and a design focused on ease of use and adaptability. It continues to be a preferred choice for researchers, educators, and professionals in the rapidly evolving landscape of robotics.
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