Pioneer 3-AT
The PIONEER 3-AT is a highly versatile four wheel drive robotic platform, software-compatible with all MobileRobots robots. Powerful, yet easy to use reliable, yet flexible, P3-AT is a popular team performer for outdoor or rough-terrain projects.
P3-AT offers an embedded computer option, opening the way for onboard vision processing, Ethernet-based communications, laser, DGPS, and other autonomous functions. The P3-AT carries up to 3 hot swappable batteries. Optional 8 forward and 8 rear sonar sense obstacles from 15 cm to 7 m. P3-AT's powerful motors and four knobby wheels can reach speeds of .8 meters per second and carry a payload of up to 12 kg. The P3-AT uses 100 tick encoders with inertial correction recommended for dead reckoning to compensate for skid steering. Its sensing extends far beyond the ordinary with laser-based navigation options, integrated inertial correction to compensate for slippage, GPS, bumpers, gripper, vision, stereo rangefinders, compass and a rapidly growing suite of other options.
The bare P3-AT 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
- TEST ACTIVITIES QUICKLY with ARIA API from C++ programs
- SIMULATE BEHAVIORS OFFLINE with the simulator that accompanies each development environment
The Pioneer 3-AT is an all-purpose outdoor base, used for research and prototyping applications involving:
- mapping
- navigation
- monitoring
- reconnaissance
- vision
- manipulation
- cooperation
- and other behaviors
P3-AT's are made for use outdoors in the dry; they run on many earth, stone or paved surfaces. Unencumbered, they can climb steep 45% grades. To operate on carpet, select Indoor wheels, which may be swapped as needed. P3-AT's are not water-proof.
Pioneer 3-AT's provide a ready-to-use all-terrain base with:
- body with hinged battery access door
- 1 battery
- 4 wheels
- 4 motors with encoders
- microcontroller
- 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)