Simulator of multi-AGV robotic industrial environments

Abstract

This paper is concerned with simulation of floor shop layouts that may contain a number of robotic manufacturing cells and a number of automated guided vehicles (AGVs) that commutate between dynamically determined starting and end nodes. We describe improvements of the AGVs pure pursuit path planning algorithm that were achieved by using a simulator for the off-line and on-line testing purposes. Simulator enables more efficient planning of the whole manufacturing process, optimization of the number of AGVs for a given floor shop, and easy modifications before implementation of the real system.