Performance PeopleBot I/O, Pin Label Use

ActivMedia Robotics

!4 Pulse-width-modulation ports (PWM1-4)

!1 signal ground (Gnd)

!1 Vcc (+5 VDC)

!1 Vpp (+12 VDC)

Note that the general-purpose I/O and analog-to-digital ports are shared with the General I/O connector (below) and joystick circuitry and may not be available for use on all robots. For example, the analog lines P5_4-7, are used by the Joystick port, which now comes standard with the Pioneer 2-AT and Performance PeopleBot. In addition, four of the A/D ports and the PWM ports are shared with digital input and output lines, respectively.

Table 20. User I/O Expansion Port

Pin	Label	Use	Pin	Label	Use
#			#
1	P2_12	OD0 or	2	P3_0	ID0
		PWM #1
3	P2_13	OD1 or	4	P3_1	ID1
		PWM #2
5	P2_14	OD2 or	6	P3_2	ID2
		PWM #3
7	P2_15	OD3 or	8	P3_3	ID3
		PWM #4
9	P5_4	ID4 or	10	P3_4	OD4
		A/D #1
11	P5_5	ID5 or	12	P3_5	OD5
		A/D #2
13	P5_6	ID6 or	14	P3_6	OD6
		A/D #3
15	P5_7	ID7 or	16	P3_7	OD7
		A/D #4
17	P5_9	A/D	18	Vcc	<100ma
		#0/5
19	Vpp	<100ma	20	Gnd

Performance PeopleBot I/O

The left and right Tabletop IR detectors on the Performance PeopleBot are connected to the ID0 and ID1 digital input ports of the User I/O, respectively, which appear as bits 0 and 1 in the digin byte of the standard P2OS Server Information Packet. Normally high (1), the digital input port goes low (0) when its respective Tabletop sensor detects an object within its range of operation.

The left and right IR breakbeams are connected the User I/O digital input ports ID2 and ID3, respectively. Normally high (1), the respective input port goes low (0) when an object breaks the IR transmitter’s beam to its companion receiver.

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.