Mobile Robot Platforms
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Pioneer P3-AT
Overview
The Pioneer P3-AT, developed by ActivMedia Robotics, is a powerful, highly versatile all-terrain robotic platform. Its 50cm x 49cm x 26cm aluminum body houses four drive motors geared at 38.3:1 read by 100-tick encoders. It has the ability to preform zero degree turns, climb 45% grades and overcome obstacles up to 9cm high. The powerful drive wheels can pull up to 30kg payloads and propel it at speeds up to 0.7 meters per second.
Configuring with ARCOS
The P3-AT has multiple parameters stored in its on-board flash memory. You can edit these parameters with the ARCOS software found on the ActivMedia Robotics Pioneer CD (located in the lab's CD binder).
Read the ARCOS documentation to learn how to connect to the robot. This documentation is also on the CD.
The robot manual booklet provides descriptions of the flash parameters in the chapter on ARCOS and configuring the robot.
Configuration Method
Assuming you don't have any parameter files to load to the robot, you can easily tweak the flash parameters so that the robot works correctly. Simply run experiments for what parameters you wish to fix, find a correction factor, and apply it to the current parameter.
Be sure you only correct for one parameter at a time!
