Faculty of Engineering and Sciences, Universidad Adolfo Ibáñez, Santiago 7941169, Chile.
Departamento de Electrónica, Universidad Técnica Federico Santa María, Valparaíso 2390123, Chile.
Sensors (Basel). 2021 Mar 16;21(6):2072. doi: 10.3390/s21062072.
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.
在本文中，我们提出了一个低成本的多智能体系统实验平台，用于教学和研究目的。该平台由类似于火车的自主智能体组成，配备了本地速度估计、与最近的前导智能体的距离感测以及与其他智能体和中央协调器的无线通信。单个智能体可用于在教室或实验室环境中进行简单的 PID 实验，而一组智能体则能够在各种环境中执行分散的编队，使用合作自适应巡航控制，后者是该平台的主要目标。智能体由低成本组件构建，并使用开源软件编程，这使得更多的智能体能够进行教学体验和实验工作，而这在其他现有解决方案中是不可能的。此外，我们还通过实验结果说明了该平台能够执行的一些教学活动。
