Pioneer P2 DX
A compact, computer-controlled mobile robot for research on self guided system, exploration of unknown environments and indoor applications on mobile robotics.
robot is controlled from a remote PC, running either Linux or MS-Windows,
that communicates with Pioneer via radio-modem at the speed of 9600 baud.
An on-board Siemens 88C166 programmable microcontroller handles the
low-level tasks, such as motor control, sensor processing and of course
communication. Together with 88C166, Pioneer 2 DX is equipped with 16
low-cost Polaroid ultrasonic range finders, used for obstacle avoidance
and for the map-building process. In addition, a position encoder (9850
ticks per revolution) is coupled with each driven wheel and it is used for
localization purposes (via dead-reckoning) and for motor control. Energy
is supplied by 3 lead-acid batteries which ensure a run time of about 8
Ease of use and
The robot comes with P2OS™,
a small operating system for the on-board microcontroller which makes very
easy programming of higher level tasks, such as path planning, map
building and localization. Each of these tasks is performed on the remote
PC and can be easily implemented in standard C/C++ language.
With its high speed (1,6 m/sec) and maneuverability, Pioneer 2 can accomplish a lot of tasks, especially in indoor environments. For example it can be used for mail distribution among different offices and so on. However, it is used mainly as a test platform for algorithms of autonomous navigation and path planning.
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