Pioneer

Modeling

• Kinematics
  • Wheels and its constraints
  • Differential Drive Model
  • The Unicycle Model
• Probabilistic Kinematics
  • The castor wheel problem
  • The assumption violation
  • Velocity Motion Model
  • Odometry Motion Model

Hardware

• Robots
  • Athos
  • Aramis
  • Porthos
• Computer
  • Computer Specs
  • Power Supply
• Sonars
  • Sonar Specs
  • Geometry
  • Sensitivity Adjustment
  • Software
• Cameras
  • Stereo Cameras
  • Kinect
  • USB Camera
• Batteries
  • Batteries Specs
  • Battery Indicators and Low Voltage Conditions
  • Recharging
• GPS Receiver
  • Specs
  • Antenna
  • Power Board
• IMU
  • Specs
  • Power Board

Software

• ROS
• Gazebo Simulator
• P2OS Package
• Move Base Package
• System’s Architecture

Tutorials:

• Mobile Robotics Lab 1
• Mobile Robotics Lab 2
• Mobile Robotics Lab 3