The
MobileRobots Pioneer LX is an autonomous navigation robot developed by Omron Adept MobileRobots. The Pioneer LX serves as the Cyborgs transportation base and navigation platform
. The Pioneer LX has some useful sensors, including the SICK S-300 laser range sensor,
and includes laser and sonar senorsbumper sensors in front and front and rear sonar sensors. Its embedded computer is capable of running Linux, ROS and all basic modules. Its computational power in the area of parallel processing (GPU) is low. The included SDK is capable of using the laser range sensor to map some obstacles and rooms, but because its mounted low it will not be able to map obstacles above a certain height. We also have a body on top of the Pioneer, and this makes navigating obstacles above ground even more challenging.
Manual and datasheet
| View file |
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| name | Pioneer LX manual (revA).pdf |
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| page | Hardware |
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| height | 150250 |
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| View file |
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| name | Pioneer LX datasheet.pdf |
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| page | Hardware |
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| height | 250 |
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| View file |
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| name | Omron MobileRobots - LD platform - users manual.pdf |
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| height | 150 | 250 |
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Integrated hardware
The Pioneer LX features the following hardware:
- Intel D525 64-bit dual core CPU @1.8 GHz
- Intel GMA 3150 integrated graphics processing unit
- Intel 6235ANHMW wireless network adapter
- Ports for ethernet, RS-232, USB, VGA, and various other analog and digital I/O
- SICK 300 and SICK TiM 510 laser scanner, for navigation and object detection.
- Sonar sensors and a bumper panel.
- Joystick for manual control.
- A 60 A h battery, expected to power the robot continuously for up to 13 hours.
- Automated charging station, allowing the robot to dock autonomously.
SICK S-300 laser range sensor
SICK S-300 is the laser rangefinder module on the Pioneer LX. It has 240 field of view, 30 meter maximum range and angular resolution. This may appear as a low resolution for things further away, but when you move the robot to map the surroundings it works well. When creating a map of an area the Mapper3 software will smooth out the area and create a high resolution map for you. One major issue with the SICK S-300 is that it cannot see obstacles above the robot base. Therefor we need to be careful with tables and other similar obstacles.
Kill Switch
The kill switch is a big red button that has to be raised before the motors will receive any power. If the robot ever acts unexpectedly, or is a danger for people or itself, we can hit this big red button to stop it. If needed, hardware can be connected to a special power connection on the battery which will stop delivering power when the switch is down.