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

Abstract

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.

Evaluation Method of the Metacognitive Ability of Chinese Reading Teaching for Junior Middle School Students Based on Dijkstra Algorithm and IoT Applications

“…It is possible to purposefully train students' reading ability and cultivate students' corresponding reading ability in the actual reading teaching. In the process of reading teaching, we can carry out the teaching of reading knowledge, and it is possible to organically integrate knowledge and ability, process and method, emotional attitude, and values in reading teaching [18][19][20]. It cannot only cultivate students' reading ability but also train students' reading quality.…”

Design and Implementation of ESP32-Based IoT Devices

“…The paper also provides details of the robotic arm’s components, direct and inverse kinematics, associated software, simulation, and experimental results. A low-cost multi-agent system experimental platform for teaching and research of decentralized cooperative control is presented in [ 43 ]. The platform consists of autonomous agents (small cars) equipped with an ESP32 module, a time-of-flight (ToF) ranging sensor (VL53L0X), an optical flow sensor (ADNS3080), LEGO motors, an H-bridge (TB6612FNG), and a 3D-printed chassis.…”

“…The authors Song and Meng [40] and Nikolayev [41] noted that a project-based teaching method, where lecturers are only in the role of guiding and assessing student work, improves the quality of teaching. Technologies like IoT are bound to impact the education system and offer opportunities to implement grassroots transformation [41], including transport systems, robotics [42], control [43], and teaching [35,[44][45][46][47]. Luis Bustamante et al [48] proposed an open-source platform for collecting, managing, and analyzing large amounts of sensor data.…”

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“…Another work [24] presented an experimental multi-agent system platform for teaching control labs. The platform was open, low-cost, flexible, and capable of verifying cooperative platooning schemes.…”