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This manual covers the setup, operation, and user maintenance of your Omron Adept MobileRobots
Pioneer LX mobile robot.
Product Description
The Pioneer LX is a general-purpose, indoor mobile robot platform, designed and sized to carry loads up
to 60 kg (132 lb) while working around people. With the included ARNL software, it is self-guided and
self-charging, with an automated charging station. The platform's size and drive assembly are designed
to work in any wheelchair-accessible environment.
The Pioneer LX includes a complete robot control system and embedded computer (PC), differential
drive system with encoder feedback, as well as a laser rangefinder sensor, ultrasonic (sonar) sensors, and
a bumper panel.
The Pioneer SDK is provided to develop software using the Pioneer LX in C++, Java or Python.
The ARNL SDK provides the capability to your software to know where the robot is located within an
indoor workspace (localization), and to navigate safely and autonomously to any accessible destination
within that workspace (navigation), continuously and without human intervention.
The Pioneer LX provides a variety of interfaces and power connections to support your application-
specific sensors and accessories. Refer to Connectivity on page 65, for information on the available
connectors..
For some projects, you may want to customize the Pioneer LX with a payload, attached to the top of the
platform, such as sensors, manipulators, extra structure. Refer to Payloads on page 57 for general
information on designing a payload.
MTX Generation and Pioneer Compatibility
The Pioneer LX is the first in a new generation of robots from Omron Adept Technologies, the MTX type
robots.
In most ways, the Pioneer LX remains compatible with Pioneer 3 and other Pioneer 2/3 based robot
platforms: it uses a compatible protocol for essential communication with software, and the Pioneer
SDK including ARIA C++ API remains compatible with all Pioneer platforms, including Pioneer LX.
(Support for the Pioneer LX was added in ARIA 2.8.0 and ARNL 1.8.0.)
The Pioneer LX does differ from previous Pioneer 2/3 robots in a few ways, however, including:
The robot controller uses a new firmware implementation, MARC
Some components are connected directly to the embedded computer, rather than managed via the
robot controller (sonar, display, battery information). However, ARIA's ArRobotConnector
class will automatically connect to these components by default, and continue to provide data via
the ArRobot class, so all software using ARIA and ArRobotConnector will continue to work
with the LX.
Some Pioneer commands are not implemented on the Pioneer LX, such as:
Page 8 of 134
Chapter 1:
Introduction
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