8.3 Using the Pioneer 3-AT and Pioneer 3-DX robots
8.3.1 Pioneer 3-AT
In this section, you will learn how to use Webots simulation model of the Pioneer 3-AT robot. (figure 8.8).
Overview of the robot

Figure 8.8: Pioneer 3-AT, a ready-to-use all terrain base
The Pioneer 3-AT robot is an all-purpose outdoor base, used for research and prototyping applications involving mapping, navigation, monitoring, reconnaissance and other behaviors. It provides a ready-to-use set of devices listed in table 8.5.
| Feature | Description |
| Dimensions | 508 mm long, 497 mm large, 277 mm high |
| Weight | 12 kg, operating playload of 12 kg on floor |
| Batteries | 2-4 hours, up to 3 lead acid batteries of 7.2 Ah each, 12 V |
| Microcontroller I/O | 32 digital inputs, 8 digital outputs, 8 analog inputs, 3 serial extension ports |
| Skid steering drive | Turn radius: 0 cm, swing radius: 34 cm, max. traversable grade: 35% |
| Speed | Max. forward/backward speed: 0.7 m/s; Rotation speed: 140 deg/s |
Table 8.5: Pioneer 3-AT features
More information on the specifications and optional devices is available on Adept Mobile Robots official webpage.
Simulation model

Figure 8.9: The Pioneer 3-AT model in Webots
The Pioneer 3-AT model in Webots is depicted in figure 8.9. This model includes support for 4 motors and 16 sonar sensors (8 forward-facing, 8 rear-facing) for proximity measurements. The standard model of the Pioneer 3-AT is provided in the pioneer3AT.wbt file which is located in the projects/robots/pioneer/pioneer3at/worlds directory of the Webots distribution.

Figure 8.10: Pioneer 3-AT servo names
The pioneer3at.wbt world file is a simulation example of a simple obstacle avoidance behavior based on the use of a SICK LIDAR (see the obstacle_avoidance_with_lidar.c controller file in the projects/robots/pioneer/pioneer3at/controller directory).
The Pioneer 3-AT motors are Servo nodes named according to figure 8.10. The wb_set_servo_position() and wb_set_servo_velocity() functions allow the user to manage the rotation of the wheels. The sonar sensors are numbered according to figure 8.11.

Figure 8.11: Sonar sensors positions
The angle between two consecutive sensor directions is 20 degrees except for the four side sensors (so0, so7, so8 and so15) for which the angle is 40 degrees.
8.3.2 Pioneer 3-DX
In this section, you will learn how to use Webots simulation model of the Pioneer 3-DX robot. (figure 8.12).
Overview of the robot

Figure 8.12: Pioneer 3-DX, an all-purpose base, used for research and applications
The base Pioneer 3-DX platform is assembled with motors featuring 500-tick encoders, 19 cm wheels, tough aluminum body, 8 forward-facing ultrasonic (sonar) sensors, 8 optional real-facing sonar, 1, 2 or 3 hot-swappable batteries, and a complete software development kit. The base Pioneer 3-DX platform can reach speeds of 1.6 meters per second and carry a payload of up to 23 kg.
The Pioneer 3-DX robot is an all-purpose base, used for research and applications involving mapping, teleoperation, localization, monitoring, reconnaissance and other behaviors. Pioneer 3-DX is provided with a ready-to-use set of devices listed in table 8.6.
| Feature | Description |
| Dimensions | 455 mm long, 381 mm large, 237 mm high |
| Weight | 9 kg, operating playload of 17 kg |
| Batteries | 8-10 hours, 3 lead acid batteries of 7.2 Ah each, 12 V |
| Microcontroller I/O | 32 digital inputs, 8 digital outputs, 8 analog inputs, 3 serial extension ports |
| Skid steering drive | Turn radius: 0 cm, swing radius: 26.7 cm, max. traversable grade: 25% |
| Speed | Max. forward/backward speed: 1.2 m/s; Rotation speed: 300 deg/s |
Table 8.6: Pioneer 3-AT features
More information on the specifications and optional devices is available on Adept Mobile Robots official webpage.
Simulation model

Figure 8.13: The Pioneer 3-DX model in Webots
The Pioneer 3-DX model in Webots is depicted in figure 8.13. This model includes support for two motors, the caster wheel, 7 LEDs on the control panel and 16 sonar sensors (8 forward-facing, 8 rear-facing) for proximity measurements. The standard model of the Pioneer 3-DX is provided in the pioneer3dx.wbt file which is located in the projects/robots/pioneer/pioneer3dx/worlds directory of the Webots distribution.

Figure 8.14: Pioneer 3-DX servo names
The pioneer3dx.wbt world file shows a simulation example of the Braitenberg avoidance algorithm based on the use of the 16 sonar sensors (see the braitenberg.c controller file in the projects/robots/pioneer/pioneer3dx/controller directory). The pioneer3dx_with_kinect.wbt world file in the same directory is a simple simulation example of an obstacle avoidance behaviour based on a Microsoft kinect sensor (see the obstacle_avoidance_kinect.c controller file).
The Pioneer 3-DX motors are Servo nodes named according to figure 8.14. The wb_set_servo_position() and wb_set_servo_velocity() functions allow the user to manage the rotation of the wheels. The sonar sensors are numbered according to figure 8.11.
The angle between two consecutive sensor directions is 20 degrees except for the four side sensors (so0, so7, so8 and so15) for which the angle is 40 degrees.