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Article

PL-TOON: A Low-Cost Experimental Platform for Teaching and Research on Decentralized Cooperative Control †

1
Faculty of Engineering and Sciences, Universidad Adolfo Ibáñez, Santiago 7941169, Chile
2
Departamento de Electrónica, Universidad Técnica Federico Santa María, Valparaíso 2390123, Chile
*
Author to whom correspondence should be addressed.
This work is an extended version of a paper published in IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies (CHILECON 2019), Valparaíso, Chile, 29–31 October 2019.
Academic Editor: Md Nazmul Huda
Sensors 2021, 21(6), 2072; https://doi.org/10.3390/s21062072
Received: 24 February 2021 / Revised: 10 March 2021 / Accepted: 13 March 2021 / Published: 16 March 2021
(This article belongs to the Special Issue Mechatronics and Robotics in Future Engineering Education)
In this paper, we present the development of a low-cost multi-agent system experimental platform for teaching, and research purposes. The platform consists of train-like autonomous agents equipped with local speed estimation, distance sensing to their nearest predecessor, and wireless communications with other agents and a central coordinator. The individual agents can be used for simple PID experiments in a classroom or laboratory setting, while a collection of agents are capable of performing decentralized platooning with cooperative adaptive cruise control in a variety of settings, the latter being the main goal of the platform. The agents are built from low cost components and programmed with open source software, enabling teaching experiences and experimental work with a larger number of agents that would otherwise be possible with other existing solutions. Additionally, we illustrate with experimental results some of the teaching activities that the platform is capable of performing. View Full-Text
Keywords: control engineering education; STEM; multi-agent systems laboratory; string stability; vehicle platooning control engineering education; STEM; multi-agent systems laboratory; string stability; vehicle platooning
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MDPI and ACS Style

Peters, A.A.; Vargas, F.J.; Garrido, C.; Andrade, C.; Villenas, F. PL-TOON: A Low-Cost Experimental Platform for Teaching and Research on Decentralized Cooperative Control. Sensors 2021, 21, 2072. https://doi.org/10.3390/s21062072

AMA Style

Peters AA, Vargas FJ, Garrido C, Andrade C, Villenas F. PL-TOON: A Low-Cost Experimental Platform for Teaching and Research on Decentralized Cooperative Control. Sensors. 2021; 21(6):2072. https://doi.org/10.3390/s21062072

Chicago/Turabian Style

Peters, Andrés A., Francisco J. Vargas, Cristóbal Garrido, Cristóbal Andrade, and Felipe Villenas. 2021. "PL-TOON: A Low-Cost Experimental Platform for Teaching and Research on Decentralized Cooperative Control" Sensors 21, no. 6: 2072. https://doi.org/10.3390/s21062072

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