^{PatrolBot Base with Twin Lasers & Stereocam (Vertical laser visible, horizontal laser is under sonar ring)}

^{GuiaBot configuration includes touchscreen, surveillance camera, with optional URG at toe level for foot avoidance.}

RESEARCH PATROLBOT is our highest quality indoor robot, with smooth, high-speed drive and brush-less motors, operable 24X7 autonomously. With good payload capabilities, Research PatrolBot is the best platform for work requiring multiple lasers or other moderate payload, up to 40kg flat or 25kg on an 8:1 ramp. Designed for 24X7 use, the ARCS-based PatrolBot implements ARNL navigation from the hidden laser-rangefinder. Developer software is included.

The Research PatrolBot base can:

• WANDER randomly, avoiding obstacles
• DRIVE controlled by keys or joystick
• COMMUNICATE SENSOR & CONTROL INFORMATION including sonar, motor encoder, motor controls, user I/O, and battery charge data
• RUN C/C++ PROGRAMS created with or without ARIA or our other software development environments
• SIMULATE BEHAVIORS OFFLINE with the simulator that accompanies each development environment

• CREATE 2D MAPS of rooms, labs or buildings in minutes
• PLAN PATHS to goals
• AVOID OBSTACLES along the way
• NAVIGATE TIGHT SPACES for delivery or docking

RESEARCH PATROLBOT BASE COMPONENTS

• PatrolBot  ARCSinside differential-drive mobile robotic base with caster
  
• MobileRobots Inc standard research software (ARIA, ARNetworking, MobileEyes, MobileSim, Mapper Basic, SonARNL, GUI Server and Demo)
• 4 rear sonar
• 10 bumper panels
• Twin motor encoders
  
• Gyroscopic encoder correction
  
• Batteries
• Users guide
• 1 year warranty
• Requires serial Ethernet or laptop connector (not included)

Laser range-finderfor 3D mapping and path planning, integrated in ARIA Tall extension for human interaction research, teleconferencing robots and guides Touch screen, also for human interface Red and green IR proximity sensors, for simple yes/no interface Choice of our MobileRanger or Standard Stereovision Systems Remote-control pan-tilt-zoom camera, tightly integrated, located on the robot or on the tall extension Additional auto-docking recharge stations Optional 3-year warranty

PatrolBot can climb an 20% grade and sills of 2.5cm. On flat surfaces, PatrolBot  can move at speeds of 2mps. It can carry payloads of 25kg on an 8:1 ramp, 40kg on flat floors; payloads must be balanced appropriately for effective operation of this or any robot. PatrolBots can travel through shallow puddles.

PatrolrBot with PC and a single laser can operate approximately 3.5 hours on a fully charged battery. Recharge to run-time is less than 1:1.

PatrolBot is a closed system, not designed for user access. Inside are an Hitachi SH-based 32-bit  RISC microcontroller, sonar boards and other electronics. Each robot has 16 sonar and two 1000-tick motor encoders. Digital I/O, A/D, RS232, USB and firewire interfaces are all possible within the system and may be integrated through ARIA.

A small proprietary µARCS transfers sonar readings, motor encoder information and other I/O via packets from the microcontroller server to the PC client and returns control commands. Users can run the robot from the client or design their own programs under Linux or under WIN32 using their favorite C/C++ compiler.

Our ARIA and ARNL software supply library functions to handle navigation, path planning, obstacle avoidance and many other robotic tasks.
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