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TM
Pioneer 2 / PeopleBot
Operations Manual
for P2OS-based ActivMedia Robots
TM
PIONEER 2-DXE PIONEER 2-AT PEOPLEBOT
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Copyright © 2002, ActivMedia Robotics, LLC. All rights reserved. Under international copyright laws, this manual or any portion of it may not be copied or in any way duplicated without the expressed written consent of ActivMedia Robotics. The software on disk and on the microcontroller ROM, which accompany the robot, and are available for network download by ActivMedia Robotics customers, are solely owned and copyrighted or are licensed products distributed by ActivMedia Roboti
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ActivMedia Robotics Important Safety Instructions ! Read the installation and operations instructions before using the equipment. ! Avoid using power extension cords. ! To prevent fire or shock hazard, do not expose the equipment to rain or moisture. ! Refrain from opening the unit or any of its accessories. ! Keep wheels away from long hair or fur. Inappropriate Operation Inappropriate operation voids your warranty! Inappropriate operation includes, but is not limited to:
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Table of Contents CHAPTER 1 INTRODUCTION................................................................................................................. 1 ROBOT PACKAGE ........................................................................................................................................ 1 Basic Components (all shipments).......................................................................................................... 1 Optional Components and Attachme
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ActivMedia Robotics A SUCCESSFUL CONNECTION.....................................................................................................................21 OPERATING THE SAPHIRA DEMONSTRATION CLIENT .................................................................................22 DISCONNECTING SERIAL COMMUNICATIONS (INTENTIONALLY OR UNINTENTIONALLY) ....................................23 QUICKSTART TROUBLESHOOTING......................................................................
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Step 2: Enable FLASH.......................................................................................................................... 47 Step 3: Put Microcontroller into Download Mode ............................................................................... 47 Step 4: Run p2osdl................................................................................................................................ 47 Download Troubleshooting ..........................................
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ActivMedia Robotics Chapter 1 Introduction Congratulations on your purchase and welcome to the rapidly growing community of researchers, developers, and enthusiasts of ActivMedia Robotics’ intelligent mobile robots. This Pioneer 2 Operations Manual provides both the general and technical details you need to operate Figure 1. The Pioneer 2-DX your Pioneer 2-DX, -CE, -DXe, -AT, or PeopleBot Mobile and -AT Mobile Robots first Robot and to begin developing your own Robotics appeare
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Congratulations ! Serial cables for external connections ! Many more… User-Supplied Components / System Requirements ! Client computer: 586-class or later PC with Microsoft Windows© 9x/ME, or © RedHat Linux operating system ! One RS-232-compatible serial port ! Four megabytes of available hard-disk storage Additional Resources New ActivMedia Robotics Pioneer 2 and PeopleBot customer get three additional and valuable resources: ! A private account on our Internet server for downl
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ActivMedia Robotics Support Have a problem? Can’t find the answer in this or any of the accompanying manuals? Or do you know a way that we might improve our robots? Share your thoughts and questions directly with us: support@activmedia.com Please include your robot's serial number (look for it beside the Main Power switch)we often need to understand your robot's configuration to best answer your question. Your message goes directly to the ActivMedia Robotics technical support team
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Chapter 2 What Is Pioneer? Pioneer is a family of mobile robots, both two-wheel and four-wheel drive, including the Pioneer 2-DX, -DXe, -CE, and -AT, and the PeopleBot (V1 and Performance) Mobile Robots. All are intelligent mobile robots, whose client-server architecture was originally developed by Kurt Konolige, Ph.D., of SRI International, Inc. and Stanford University. ActivMedia’s robots are truly intelligent, off- the-shelf mobile platforms, containing all of the basic compone
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ActivMedia Robotics managing attached accessories like the Gripper. To complete the client-server architecture, ActivMedia robots require a client connection: software running on a computer workstation connected with the robot’s controller via a serial link that provides the high-level, intelligent robot controls, including obstacle avoidance, path planning, features recognition, localization, and so on. An important benefit of ActivMedia Robotics’ client-server architecture is that diffe
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to use your robot, but it will not appear on your own menu since it copies functionalities of Navigator, which you may not distribute. ! MAPPER provides the tools you need to construct a map of your robot’s real operating space (“world”). Navigator and WorldPass use this map floor plan to plan a path from one point to another within a space. ! TRAINER is a programming editor and robot interface in which you create and perfect your own intelligent mobile robot-control programs with
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ActivMedia Robotics much of the ActivMedia Robotics Basic Suite and many other ventures. The complete, licensed Saphira robotics development environment, including C/C++ libraries, GUI interface and Simulator, comes bundled with your ActivMedia robot. The Pioneer Legacy Commercially introduced in August of 1995, Pioneer 1 was the original Pioneer platform. It introduced a single-board 68HC11-based robot microcontroller and the Pioneer Server Operating System (PSOS) software. It’s low-c
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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. 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 3
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ActivMedia Robotics To the relief of those who have invested years in developing software for Pioneer 1, Pioneer 2 truly does combine the best of the new mobile robot technologies with the tried-and-true Pioneer architecture. Modes of Operation You may operate your Pioneer 2 or PeopleBot robot in one of four modes: ! Joydrive ! Self-test ! Server ! Standalone The Pioneer 2/PeopleBot microcontroller comes with 32K flash-programmable, read-only memory (FLASH-ROM) as part of its Siemen
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Specifications and Controls Chapter 3 Specifications & Controls ActivMedia’s robots may be smaller than most, but they pack an impressive array of intelligent mobile robot capabilities that rival bigger and much more expensive machines. For example, the Pioneer 2-DXe with onboard PC is a fully autonomous intelligent mobile robot, but unlike other commercially available robots, the DXe’s modest size lends itself very well to navigation in tight quarters and cluttered spaces, such as cla
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ActivMedia Robotics Deck(s) and Console The original Pioneer 2-DX, -CE, and -AT Decks are one piecethe top plate of the robot. The new DXe and AT models now have hinged top-plates which let you much more easily access the internal components of the robot. Figure 9. Pioneer 2-AT Console and hinged Deck The robot’s Deck is simply the flat surface for mounting projects and accessories, such as the PTZ Robotic Camera or a laser range finder. The PeopleBot’s have lower and upper Decks. F
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Specifications and Controls Body, Nose, and Accessory Panels Your ActivMedia robot’s sturdy, but lightweight aluminum Body houses the batteries, drive motors, electronics, and other common components, including the front and rear sonar arrays. The Body also has sufficient room, with power and signal connectors, to support a variety of robotics accessories inside, including an A/V wireless surveillance system, radio modems or radio Ethernet, onboard computer, and more. On all models excep
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ActivMedia Robotics All models come with an access port near the center of the Deck through which to run cables to the internal components. Sonar Arrays with Gain Adjustment Natively, ActivMedia robots support both front and rear sonar arrays, each with eight transducers that provide object detection and range information for features recognition, as well as navigation around obstacles. With sonar expansion electronics, you may add up to 16 more sonar in two additional arrays of eight s
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Specifications and Controls Motors and Position Encoders Pioneer 2 and PeopleBot drive systems use high-speed, high-torque, reversible-DC motors, each equipped with a high-resolution optical quadrature shaft encoder for precise position and speed sensing and advanced dead-reckoning. Motor gearhead ratios and encoder ticks per revolution vary by robot model. See Appendix D for details. Batteries and Power Except the 2-CE, Pioneer 2 and PeopleBot robots may contain up to three, hot- swap
