PIONEER: THE WORLD'S FAVORITE FOR
VERSATILITY, RELIABILITY AND DURABILITY!
PIONEER
P3-DX
Description
Components
P3-DX
Options
Technical
Specifications
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Class Packs!
PIONEER 3-DX8 is an
agile, versatile intelligent mobile robotic platform updated to carry
loads more robustly and to traverse
sills more surely with
high-performance current management to provide power when it's needed.
Unlike hobby robots, it will last
through years of tough classroom use and come back for more.
Built on the same core client-server
model as all MobileRobots robots, the P3-DX8 offers an embedded
computer option, opening the way for onboard vision processing,
Ethernet-based communications, laser, DGPS, and other autonomous
functions. The P3-DX stores up to 252 watt-hours of hot-swappable
batteries. It arrives with a ring of 8 forward sonar and with an
optional 8 rear sonar ring. 3-DX's powerful motors and 19cm wheels can
reach speeds of 1.6 meters per second and carry a payload of up to 23
kg. In order to maintain accurate dead reckoning data at these speeds,
the Pioneer uses 500 tick encoders. Its sensing moves far beyond the
ordinary with laser-based navigation options, bumpers, gripper, vision,
stereo rangefinders, compass and a rapidly growing suite of other
options.
The bare P3-DX base with
included ARIA software has the ability to:
- WANDER randomly
- DRIVE controlled by keys
or joystick
- PLAN PATHS with gradient
navigation
- DISPLAY a map of its
sonar and/or laser readings
- LOCALIZE using sonar
(with optional laser upgrade)
- COMMUNICATE SENSOR &
CONTROL information relating sonar, motor encoder, motor controls, user
I/O, and battery charge data
- RUN C/C++ PROGRAMS
- TEST ACTIVITIES QUICKLY
- SIMULATE BEHAVIORS
OFFLINE with the simulator that accompanies each development environment
With Laser Mapping &
Navigation System and MobileEyes, your robot can map buildings and
constantly update its position within a few cm while traveling within
mapped areas.
With the appropriate accessories, you can view the
robot's view remotely, speak, play and hear audio and send the robot on
patrol.
The Pioneer 3-DX is an
all-purpose base, used for research and applications involving:
- mapping
- teleoperation
- localization
- monitoring
- reconnaissance
- vision
- manipulation
- cooperation
- and other behaviors
P3 -DX's
run best on hard surfaces. They can traverse low sills and household
power cords and climb most wheelchair ramps.
P3-DX COMPONENTS
Pioneer 3-DX's provide a
sturdy, reliable, well-tested, ready-to-use general purpose base with:
- body with hinged battery
access door
- 1 battery
- 2 wheels and 1 caster
- motors with encoders
- front sonar ring
- microcontroller
- sonar board
- motor power board
- ARCOS microcontroller
server software
- user I/O bus integrated
into hardware and ARIA software
- ARIA Robotics API for
developers
- operations manual
In addition, the robot
requires:
- communication with a PC
client, via one of the following:
- wireless radio modem
- robot-to-laptop
connector
- robot-to-desktop
tether
- or connection to an
embedded computer
- a recharger
- standard for
overnight charging
- high-capacity to cut
charge time 80% or to use as a
computer power supply (requires 3 batteries)
P3-DX OPTIONS
Pioneer 3-DX's wide suite of
integrated options makes it the most versatile platform available.
Other robots may provide accessories that are integrated in hardware;
they can be physically run by the robot. However, they often do not
provide the software to gather sensing or other data from the accessory
and to send control commands to any motors or other effectors. Writing
these integration programs takes valuable research time. By handling
these integration worries, MobileRobots saves you headaches. In addition, custom accessories plugged into
P3-DXe's user I/O bus are already integrated into ARIA through ARCOS
packets
P3-DX's accessories
range from:
TECHNICAL SPECIFICATIONS
The
rugged P3-DX is 44cm x 38cm x 22cm aluminum body with 16.5cm dia drive
wheels. The two motors use 38.3:1 gear ratios and contain 500-tick
encoders. This differential drive platform is highly holonomic and can
rotate in place moving both wheels, or it can swing around a stationery
wheel in a circle of 32cm radius. A rear caster balances the
robot.
P3-DX
can climb a 25% grade and sills of 2.5cm. On flat floor, the P3-DX can
move at speeds of 1.6 mps. At slower speeds it can carry payloads up to
23 kg. Payloads include additional batteries and all accessories and
must be balanced appropriately for effective operation of the robot.
In
addition to motor encoders, the P3DX base includes eight ultrasonic
transducer (range-finding sonar) sensors arranged to provide 180-degree
forward coverage. They read ranges from 15cm to approximately 7m.
P3-DX's
hinged battery door makes hot-swapping batteries simple, though a bare
P3-DX base can run 18-24 hours on three fully charged batteries. With a
high-capacity charger, re-charging time is only 2.4 hours.
The
P3-DX's easily removable nose allows quick access to any optional
embedded computer for addition of up to 3 PC104+ cards. All P3-DX's
include a 32-bit RISC-based controller. On the microcontroller,
we have 8 digin and 8 digout plus 1 dedicated A/D port; 4 digin can be
reconfigured as A/D in; 4 digout can be reconfigured to PWM outputs.
This user I/O is integrated into the packet structure, accessible
through ARIA.
 FOR MORE
INFORMATION: Cross-Platform
Specifications Table
A
small proprietary ARCOS transfers sonar readings, motor encoder
information and other I/O via packets to the PC client and returns
control commands. Users can run the robot from the client or design
their own programs under Debian Linux or under WIN2000 using their
favorite C/C++ compiler. Our robotics development environments supply
library functions to handle navigation, path planning and many other
robotic tasks.
FOR MORE
INFORMATION: MobileRobots
Software
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