A simulation and control framework for AGV based transport systems

This paper presents a flexible framework to simulate transport systems based on automated guided vehicles (AGVs). The used perform the simulation also serves implement different policies and algorithms in global control system. For all mobile platforms, regardless of their application, there is great interest having model environment. However, tend be complex, with many needing execute tasks at same time. Furthermore, when analyzing system, no need for detailed each AGV. That why most researchers do not use modular frameworks, such as robotic operating system (ROS), Instead, they specific tools that require definition simulated scheduling, routing allocation languages or models. As an alternative, our approach extends by replacing on-board modules devices event simulator models AGV behavior statistically. With this approach, methods are only implemented once; tested later final Also, easily verified using Petri Net-based model. directly executive module coordinates other framework. has been during implementation several projects which included autonomous logistics hospitals, warehouse internal forklifts, factory tugger trains. Examples how can help design some parameters fleet size scheduling paper.