Download - AGV Simulation
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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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B
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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B
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BA
B
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