# Design of a System for Verification of Automatic Guided Vehicle Routes Using Computer Emulation
## 1 Introduction  
Current trends in manufacturing logistics development show that, in terms of logistics system productivity, the fastest, cheapest, and most efficient system wins. Manufacturing logistics can be defined as a system for managing the in-house movement of materials and goods, for managing the movement of materials and products from suppliers to the plant and to individual workplaces, and for the movement of products and semi-finished products from workplaces and plants to the customer [1]. When creating logistics chains, i.e., coordinating, connecting, and optimising material flow from the place of production to the place of consumption, a range of activities such as transport, packaging, material handling, and storage should be ensured [2]. While logistics equipment is used to provide this, among the most widespread is the automatic guided vehicle (AGV). An AGV is a computer-controlled cargo carrier that moves without an operator--the driver. Their movement is controlled by a combination of software and guidance systems that are based on sensors [3, 4]. When logistics system designers design such a system, they aim to incorporate flexibility into their characteristics in the form of rapid adaptation to changing market conditions. The AGV as a system is also suitable for flexibility because its movement path can be changed within minutes depending on the changing priorities of the manufacturing system. The involvement of flexible logistics allows holding inventory at an optimal level in terms of minimum costs and increases possibilities during the scheduling process when unexpected events occur [5, 6]. In order to achieve a certain degree of flexibility and the possibility of the reconfiguration of logistics processes, the incorporation of digital technologies contained in the concept of Industry 4.0 is essential. With the advent of digital technologies, there was a breakthrough in industry that has been called the digital factory. In addition to a real manufacturing system, businesses also have a digital manufacturing system represented by digital models mutually integrated into the digital factory. The main characteristic of a digital factory is its use of simulation [7,8]. A simulation is the imitation of the operation of a real-world process or system over time [9]. This makes it possible to use the digital model to conduct large-scale experiments with inputs from the model in order to detect the behaviour of a designed or real object [10]. The use of simulation is growing, especially in the fields of planning, implementing, and operating complex technical systems. Using a digital factory and the contained simulation makes it possible to analyse the efficiency of manufacturing systems before making a well-defined change in real operation. Industry 4.0 brings the implementation of technologies such as the Industrial Internet of Things (IIoT), cyber-physical systems, and simulations. In current logistics systems, a huge amount of data is generated as a result of the use of sensors [11]. By combining monitoring systems and parametric dynamic models, it is possible to mirror the behaviour of the real world based on impulses from the virtual environment [12]. For real objects, their virtual representatives are created, which we now refer to as digital twins. The virtual model thus created (a digital twin) can be used in all phases of the development, operation, and improvement of the product. The entire development and most of the tests can be implemented through virtual testing and simulations using the digital model. The current turbulent environment requires new approaches (both exact and approximative), i.e., those that are robust, fast enough, and functional enough to support executive decision-making, particularly in the area of bottleneck prevention [13]. One of the many progressive methods that finds application in the control of modern complex systems is the emulation of manufacturing and logistics systems.