5
Figure 2. Adept MobileRobots platforms require a PC to run client software for intelligent robotics command and
control operations.
An important benefit of Adept MobileRobots client-server architecture is that different robot servers can be run using
the same high-level client. Several clients also may share responsibility for controlling a single mobile server, which
permits experimentation in distributed communication, planning, and control.
The Pioneer SDK is a collection of libraries and applications that come with every Pioneer mobile robot and with
selected accessories. The standard Pioneer SDK bundled with every robot at no extra charge includes the open-source
ARIA and ArNetworking, the MobileEyes and Mapper3-Basic network GUI applications, SONARNL and MobileSim.
ARIA
ARIA
ARIA
ARIA provides an interface and framework for controlling and receiving data from all Pioneers, as well as most
accessories (some devices also have separate interface libraries). ARIA also has utilities useful for writing robot control
software as well as tools for writing cross-platform (Windows and Linux) code and support for network sockets and
threads. ArNetworking provides a simple, extensible framework for client-server network programming.
MobileSim
MobileSim
MobileSim
MobileSim is an open-source application based on Stage that Adept MobileRobots engineers have customized and
extended to best simulate all Pioneer platforms and many accessories.
MobileEyes
MobileEyes
MobileEyes
MobileEyes, enabled through ARIA and ArNetworking, is a GUI application for configuration, operation and monitoring of
your Pioneer platform over the network.
The SONAR
SONAR
SONAR
SONARNL
NL
NL
NL libraries enable your SONAR-based Pioneer platforms to localize and autonomously navigate indoor
spaces. Make your working maps for SONARNL with the free GUI Mapper 3-Basic application.
Optional, typically accessory-bundled Pioneer SDK libraries include ARNL
ARNL
ARNL
ARNL and MOGS
MOGS
MOGS
MOGS. ARNL enables a much more
robust, laser-based autonomous localization and navigation. ARNL is the best-in-class software foundation for Adept
MobileRobots' Motivity commercial- and industrial-ready mobile localization and navigation systems. Use MOGS to fuse
laser and DGPS sensor data to guide your Pioneer robots outdoors.
Several other robotics applications development environments also have emerged to support Pioneer mobile robots,
including Ayllu from Brandeis University, Pyro from Bryn Mawr and Swarthmore Colleges, Player/Stage from the
University of Southern California, Carmen from Carnegie-Mellon University, LabView from National Instruments,
Microsoft® Robotics Developer Studio and ROS from Willow Garage.
P
ORTS AND
P
OWER
Your new
Pioneer 3 robot has a variety of expansion power and I/O ports for attachment and close integration of a
client PC, sensors, and a variety of accessories—all accessible through a common application interface to the robot’s
server software, ARCOS.
Features include:
44.2368 MHz Renesas SH2 32-bit RISC microprocessor with 32K RAM and 128K FLASH
3 RS-232 auxilliary serial ports configurable from 9.6 to 115.2 kilobaud
1 “HOST” software control serial port
4 possible SONAR arrays (8 ultrasonic transducers in each arry)
16 digital inputs for bumper switches
16 digital I/O lines for gripper or customer use
