Sporting a more holonomic body, larger wheels and stronger motors for better indoor performance, the Pioneer 2-DX and CE models, like Pioneer 1, were two-wheel, differential-drive mobile robots.

Figure 7. Nearly identical to its research predecessor (right), the Performance PeopleBot (left) sports an attractive body design and bundled systems, including integrated Gripper, for commercial- consumer human-interaction applications.

The four-wheel drive Pioneer 2-AT has independent motor drivers, as well as a stall-detection system. And unlike its predecessor, the Pioneer 2-AT comes with inflatable pneumatic tires and metal wheels for much more robust operation in rough terrain, as well as the ability to carry nearly 30 kilograms (66 lbs) of payload and climb a 60-percent grade! The newest version of the 2-AT, introduced in mid-2001, includes an integrated joystick port for manual operation and a hinged top-plate for easy access to the internal systems.

The PeopleBot robots were

introduced in 2000. They are architecturally Pioneer 2 robots, but with stronger motors and integrated human-interaction features, including a pedestal extension, integrated voice and sound synthesis and recognition.

The Performance PeopleBot is a fully redesigned, but very Pioneer 2-like system. Because of its attractive, non-threatening, and human-accessible body, Performance PeopleBot is ideal for human-interaction studies as well as for commercial and consumer mobile- robotics applications.

The latest Pioneer 2—the new Pioneer 2-DXe (Summer 2001)—replaces the DX. The DXe comes with pneumatic rubber tires for better mobility and a hinged top-plate for easy access to internal components.

All ActivMedia Robotics Pioneer 2 and PeopleBot robots use a high-performance 20 MHz Siemens 88C166-based microcontroller, with independent motor/power and sonar- controller boards for a versatile operating environment. The controller has two RS232- standard communications ports and an expansion bus to support the many accessories available for your ActivMedia robot, as well as your own custom attachments.

ActivMedia robots also supports a full complement of 32 sonar in four arrays for nearly seamless object detection.

Software-wise, the Pioneer 2 is upwardly compatible with Pioneer 1: The Pioneer 2 Operating System (P2OS) software extends—but does not replace—the original PSOS. This means that even programs that interface at the lowest communication levels will work with both Pioneer 1 and with Pioneer 2 platforms. This also means that the higher level clients, such as Saphira, ARIA, and others including your own software, will work with P2OS and any host Pioneer 2 or PeopleBot platform just as they had worked with Pioneer 1.4 Of course, you will have to extend your client software, as we have done with Saphira, ARIA, and others, in order to take full advantage of P2OS.

4The two-time gold medal winners of the International RoboCup robot soccer competition used Pioneer 1s one year and quickly converted to Pioneer 2s in the next year.

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Pioneer 2 / PeopleBot manual
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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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