Parameter DXe Performance PB | Pioneer 2 / PeopleBot guide

						ActivMedia Robotics

Parameter	DX	DXe	AT	CE	PB V1	Performance PB

Encoder ticks per rev	500	500	500	100	500	500

Gear ratio	19.7	19.7	85.5	19.7	38.3	38.3

Wheel diam (mm)	165	191	220	165	165	191

Encoder ticks per mm	76	66	49	76	148	128
wheel rotation

DistConvFactor	0.840	0.969	1.32	0.826	0.413	0.424

DiffConvFactor	0.0056	0.0057	0.0034	0.0056	0.0056	0.0060

Calibration Tools - revcountcal and compasscal

P2OS 1.4 introduced two new P2OS calibration tools: revcountcal and compasscal. Both tools are for helping your robot and its V-2XG compass accessory adapt to your unique operating environment.

Compasscal is for the V 2XG compass only; not for the TCM2 Module.

The revcount calibration tool helps you redefine the differential encoder counts that describes a full 360-degree turn of your robot. The default revcount value works fine for smooth, hard surfaces, but it can change dramatically for other operating environments, particularly for the Pioneer 2-AT on loose outdoor versus hard indoor surfaces.

The compass tool lets owners calibrate their integrated electronic compass for various environments and positions on the robot.

Saphira required

CompassCal and RevcountCal only work with licensed and properly

installed Saphira.

Note that unlike the p2oscf and p2osdl tools, the compass and revcount calibration tools use the Saphira operating environment. Hence, the programs need to be located in the bin/ directory of a licensed Saphira installation.

A Saphira license comes with your ActivMedia Mobile Robot, and you may retrieve new licensed versions from the http://robots.activmedia.com support website. See Chapter 3, "Quick Start", for additional detail.

Briefly, the programs operate in two stages. First, they connect with your Pioneer 2 or PeopleBot robot via a Saphira-based client and retrieve the robot’s current operating parameters via the ENCODERpac or CONFIGpac extended SIPs (see previous chapter). Following program prompts, you change the orientation of the robot or compass—rotate the compass and/or the robot—and the program calculates a new revcount value or X and Y offsets for the electronic compass. The process may be repeated indefinitely, each time calculating fresh values; they are not recorded or changed in your robot’s

FLASH.

In a second stage, the calibration utilities let you save the last-acquired parameter to your P2OS microcontroller’s FLASH ROM, so that the new value gets used by the robot

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.