agv simulation
DESCRIPTION
AGV Simulation. Tutorial Nelis Boucké Alexander Helleboogh. Overview. Introduction Architecture Installation Use Extensions. Simulation is crucial for MAS applications. AGVs (Automated Guided Vehicles) Transport loads in warehouse Complex network of road segments and crossroads - PowerPoint PPT PresentationTRANSCRIPT
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AGV SimulationAGV Simulation
Tutorial
Nelis Boucké
Alexander Helleboogh
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OverviewOverview
• Introduction
• Architecture
• Installation
• Use
• Extensions
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Simulation is crucial for Simulation is crucial for MAS applicationsMAS applications
• AGVs (Automated Guided Vehicles)o Transport loads in warehouse
o Complex network of road segments and crossroads
• Advantage of using MASo Decentralized system behavior
Robust & flexible
In dynamic & unpredictable environments
• Test before deployment!o Decentralized systems
o No risk of damaging AGVs
• Challenge for simulationo Test robustness & flexibility
o Dynamic test scenarios needed!
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How do we test?How do we test?
Agent software
Simulated environment
DeployTest
Warehouse environment
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OverviewOverview
• Introduction
• Architecture
• Installation
• Use
• Extensions
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Java VMJava VM
Eclipse Platform
AGV Simulator GUI Plug-inAGV Simulator GUI Plug-in
ArchitectureArchitecture
AGV BatchSimulator
AGV BatchSimulator
MAP editorMAP editor SimulationRunner
SimulationRunner
AGV AgentBehavior
AGV AgentBehavior
XML
agentwise.agvsimulation
agentwise.agvsimulation.ui
agentwise.agvsimulation.behaviordemo
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AGV batch simulatorAGV batch simulator
Interface
Deliberation Time Model
Simulated Environment
InterfaceInterface
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Programming Programming AGV BehaviorAGV Behavior
• Class:o AGVRandomWalkBehavior
Specify your behavior here!Package agentwise.agvsimulation.behaviordemo
• Classes you can use:o AGVBehavior
The complete set of instructions to steer the AGV robotpackage agentwise.agvsimulation.agv
Interface
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Scenario: decisions of agentsScenario: decisions of agents
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sendUnicast @ T=1
driveToStation @ T=1
driveToStation @ T=2
Influences
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Scenario: decisons result in Scenario: decisons result in activitiesactivities
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Activities
Send activity over (1,2)
Move activity over (2,6)
Move activity over (1,5)
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Activities interfere!Activities interfere!
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BA
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Intended outcome
Actual outcome
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What does this imply?What does this imply?
• Specification of AGV programming interface o No post conditions in terms of what will happen
o All kinds of catastrophes can happen
Not indicated by exceptions
o Only specifies what an agent tries to do
• Thinking versus actingo Agents can think and act in parallel
Agent have to wait explicitly while their AGV is driving
waitsecond()
Agents can send messages while their AGV is driving
o Agents are not notified of anything
have to rely on polling their sensors