Pioneer 2 / PeopleBot Manuel d'utilisateur télécharger pdf (Page 13)

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-cost and high-performance caused an

explosion in the number of researchers and developers who now have access to a real,

intelligent mobile robotic platform.

Pioneer 1

Intended mostly for indoor use on hard, flat surfaces, the Pioneer 1 has solid rubber tires

and a two-wheel differential, reversible drive system with a rear caster for balance. The

Pioneer 1 came standard with seven sonar range finders (two side-facing and five

forward-facing) and integrated wheel encoders.

Figure 6. All ActivMedia

robots may be configured

with a variety of integrated

accessories, including (DX

shown here) a very high-

performance laser range-

finder and robotic pan-tilt-

zoom color camera with

onboard PC and

framegrabber for color-

tracking and surveillance.

Software-wise, the Pioneer 1 initially served as a

platform for SRI International's AI/fuzzy logic-based

Saphira robotics applications development. But it

wasn't long before it's open architecture became

the popular platform for the development of a

variety of alternative robotics software

environments.

Many developers created software that interfaced

directly with PSOS. Others extended the capabilities

of Saphira (PAI and P-LOGO are two good

examples), while others have implemented

alternative robotics-control architectures, such as

the subsumption-like Ayllu.

Functionally and programmatically identical to the

Pioneer 1, the four-wheel drive, skid-steering Pioneer

AT was introduced in the Summer of 1997 for

operation in uneven indoor and outdoor

environments, including loose, rough terrain.

Except for the drive system, there are virtually no

operational differences between the Pioneer AT and

the Pioneer 1: The integrated sonar arrays and

microcontrollers are the same. The accessories

available for the Pioneer 1 also work with the Pioneer

AT. Further, applications developed for the Pioneer

1 work with little or no porting to the Pioneer 2s.

Pioneer 2 and PeopleBot

The next generation of Pioneer Mobile Robots—including the Pioneer 2-DX, -CE, and -AT,

introduced in Fall 1998 through Summer 1999, improved upon the Pioneer 1 legacy while

retaining its many important advantages.

Indeed in most respects, particularly with

applications software, Pioneer 2 works identically with Pioneer 1 models.

Price/performance ratio included! The much more capable and expandable Pioneer 2 was introduced four

years later for just a few hundred dollars (US) more than the original Pioneer 1.

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