Pioneer 2 / PeopleBot Manuel D’Utilisation

Sporting a more holonomic body, larger wheels and stronger motors for better indoor 

performance, the Pioneer 2-DX and CE models, like Pioneer 1, were two-wheel, 
differential-drive mobile robots.  

The four-wheel drive Pioneer 2-AT has 

independent motor drivers, as well as 
a stall-detection system.  And unlike 

its predecessor, the Pioneer 2-AT 

comes with inflatable pneumatic tires 
and metal wheels for much more 

robust operation in rough terrain, as 

well as the ability to carry nearly 30 
kilograms (66 lbs) of payload and 

climb a 60-percent grade!  The 

newest version of the 2-AT, introduced 
in mid-2001, includes an integrated 

joystick port for manual operation 

and a hinged top-plate for easy 
access to the internal systems. 

The PeopleBot robots were 

introduced in 2000.  They are 
architecturally Pioneer 2 robots, but 

with stronger motors and integrated 

human-interaction features, including 
a pedestal extension, integrated 

voice and sound synthesis and 

recognition. 

The Performance PeopleBot is a fully redesigned, but very Pioneer 2-like system.  Because 

of its attractive, non-threatening, and human-accessible body,  Performance PeopleBot 
is ideal for human-interaction studies as well as for commercial and consumer mobile-

robotics applications. 

The latest Pioneer 2—the new Pioneer 2-DXe (Summer 2001)—replaces the DX.  The DXe 
comes with pneumatic rubber tires for better mobility and a hinged top-plate for easy 

access to internal components. 

All ActivMedia Robotics Pioneer 2 and PeopleBot robots use a high-performance 20 MHz 
Siemens 88C166-based microcontroller, with independent motor/power and sonar-

controller boards for a versatile operating environment.  The controller has two RS232-

standard communications ports and an expansion bus to support the many accessories 
available for your ActivMedia robot, as well as your own custom attachments. 

ActivMedia robots also supports a full complement of 32 sonar in four arrays for nearly 

seamless object detection.  

Software-wise, the Pioneer 2 is upwardly compatible with Pioneer 1:  The Pioneer 2 

Operating System (P2OS) software extends—but does not replace—the original PSOS. 

This means that even programs that interface at the lowest communication levels will 
work with both Pioneer 1 and with Pioneer 2 platforms.  This also means that the higher 

level clients, such as Saphira, ARIA, and others including your own software, will work with 

P2OS and any host Pioneer 2 or PeopleBot platform just as they had worked with Pioneer 
1.

    Of  course,  you  will  have  to  extend  your  client  software,  as  we  have  done  with 

Saphira, ARIA, and others,  in order to take full advantage of P2OS. 

 

8

                                                           

4

 The two-time gold medal winners of the International RoboCup robot soccer competition used Pioneer 1s one 

year and quickly converted to Pioneer 2s in the next year.