ActivMedia Robotics

Sensors

DXe

DX

AT

Perf PB

PB V1

CE

Sonar Front Array

 

 

 

 

 

 

(one each side,

8

8

8

8

8

8

six forward @ 20°

 

 

 

 

 

 

intervals)

 

 

 

 

 

 

Rear Sonar Array

 

 

 

 

 

 

(one each side,

8

8

8

8

8

na

six rear @ 20°

 

 

 

 

 

 

intervals)

 

 

 

 

 

 

Top Deck Sonar

 

 

 

 

 

 

(one each side,

na

na

na

8

8

na

six rear @ 20°

 

 

 

 

 

 

intervals)

 

 

 

 

 

 

Encoders (2 ea)

39,400

39,400

34,000

76,600

76,600

39,400

counts/rev

 

 

 

 

 

 

counts/mm

66

76

49

128

148

76

counts/rotation

18,400

20,000

22,500

33,500

39,000

18,400

Controls and Ports

 

 

 

 

 

 

Main Power

!

!

!

!

!

!

Charge Port

!

!

!

!

!

!

Joydrive

Optional

Optional

Standard

Standard

Optional

Optional

Microcontroller and Console Controls & Ports

 

 

 

Processor

Siemens 8C166 (20 MHz)

 

 

 

 

LCD

32 characters on 2 lines

 

 

 

 

Encoder inputs

4

 

 

 

 

 

Audio

Piezo buzzer

 

 

 

 

 

PWM outputs

8 (4 user-available)

 

 

 

 

Sonar inputs

2x8 (multiplexed)

 

 

 

 

Digital I/O

16 logic ports; 8 in, 8 out

 

 

 

 

A/D

5 @ 0-5 VDC; 1024- or 256-bit resolution

 

 

 

Digital timers

8 @ 1µsec resolution;

 

 

 

 

FLASH PROM

32 KB; P2OS and robot-specific parameters

 

 

 

RAM

32 KB

 

 

 

 

 

Power switches

1 main; 1 RADIO

 

 

 

 

Comm ports

2 RS-232 serial internal; 1 RS-232 external

 

 

 

Power (internal

12 VDC @ 1A switched; 5 VDC @ 3A switched

 

 

 

comm. ports)

 

 

 

 

 

 

 

 

 

Logic

RESET and MOTORS

 

 

 

 

pushbuttons

 

 

 

 

 

 

 

 

 

 

Indicator LEDs

Main power; RADIO power; Host SERIAL RxD and TxD

 

 

67

Page 73
Image 73
Pioneer 2 / PeopleBot manual Controls and Ports

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.