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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 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.
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 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.
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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.
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The 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.