Keyword

ActivMedia Robotics

Table 15. Configuration parameters (currently P2OS 1_J) with values for Pioneer 2-DX

KEYWORD	Type	Default	Description
CONSTANTS			Should not be changed using p2oscf
Type	str	Pioneer	Identifies the robot type.
Subtype	str	P2DX	Identifies the ActivMedia robot model.
Serial	str	factory	Serial number for the robot.
FourMotors	byte	0	Is '1' for the four-motor Pioneer 2-AT
RotVelTop	int	360	Maximum rotational velocity; deg/sec
TransVelTop	int	2200	Maximum translation speed; mm/sec
RotAccTop	int	600	Maximum rotation (de)acceleration; deg/sec2
TransAccTop	int	4000	Maximum translational (de)acceleration; mm/sec2
PwmMax	int	500	Maximum motor PWM period (500=fully on).
Encoder	int	76	Encoder ticks/mm: (ticks/rev x gear-ratio)
			(wheel_diameter x PI)

VARIABLES			Parameters that you may change with p2oscf
Name	str	not_set	Unique name for your robot.
			Maximum of 20 characters, no spaces.
SInfoCycle	byte	0	Server information packet communication cycle
			time: 0=classic 100 ms; 1=new 50 ms cycle time
HostBaud	byte	0	Baud rate for host (client) serial port
			connection: 0=9600, 1=19200, 2=38400 bps.
AuxBaud	byte	2	Baud rate for AUX serial port; see HostBaud
HasGripper	int	0	1 if P2 Gripper installed into User I/O; 2 if
			installed in General I/O; otherwise 0
FrontSonar	int	1	1 if front sonar array installed; otherwise 0
RearSonar	byte	0	1 if rear sonar array installed; otherwise 0
LowBattery	int	110	In 1/10 volts; microcontroller alarm activated
			when battery charge falls below this value.
RevCount	int	20000	The number of differential encoder ticks for a
			360 degree revolution of the robot.
WatchDog	int	2000	Ms time before robot automatically stops if it
			has not received a command from a client.
			Restarts on restoration of connection.
P2Mpacs	byte	0	1 enables alternative SIP. Otherwise 0.
StallVal	int	200	Maximum PWM before stall. If > PwmMax, never.
StallCount	int	100	Ms time after a stall for recovery. Motors not
			engaged during this time.
Compass	Int	0	Compass type: 0=none; 1=V2XG; 2=TCM2
CompX	int	0	V2XG Compass calibration X-offset
CompY	int	0	V2XG Compass calibration Y-offset
RotVelMax	int	200	Max rotational speed; deg/sec.
TransVelMax	int	300	Max translational speed; mm/sec.
RotAcc	int	50	Rotational acceleration; deg/sec2
RotDecel	int	50	Rotational deceleration; deg/sec2
RotKp	int	30	Proportional PID for rotation
RotKv	int	200	Differential PID for rotation
RotKi	int	0	Integral PID for rotation
TransAcc	int	300	Translational acceleration; mm/sec2
TransDecel	int	300	Translational deceleration; mm/sec2
TransKp	int	15	Proportional PID for translation
TransKv	int	800	Differential PID for translation
TransKi	int	4	Integral PID for translation
JoyVelMax	int	600	Joydrive maximum translation	velocity
JoyRVelMax	int	125	Joydrive maximum rotational	velocity

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.

Encoder

SInfoCycle

LowBattery

WatchDog

2 / PeopleBot specifications