According to Shigeru Miyamoto, Pikmin 3 originally started as a Nintendo DS/Nintendo 3DS prototype:
While I do think it was a better idea to move Pikmin 3 to a home console, I really think that Pikmin should've seen life on Nintendo 3DS.
Shigeru Miyamoto wrote:
The truth is we were doing prototype tests of Pikmin for the DS and 3DS but it turned into unit management with only the touch pen and no matter what it just didn’t seem like Pikmin.
We concluded that Pikmin is a game that revolves around action based on its controls and the strategy sits on top that. Although there are elements that are built on the strategy, there are other overall things that have to be well considered. This complete experience is an important elements of Pikmin.
While I do think it was a better idea to move Pikmin 3 to a home console, I really think that Pikmin should've seen life on Nintendo 3DS.