# Design of a System for Verification of Automatic Guided Vehicle Routes Using Computer Emulation
## 2 Materials and Methods
### Designing a System for Verification of AGV Routes Using Computer Emulation
#### 2.1.1 Structure of the Module Representing Real Logistical Elements  
Logistics systems are often not only about moving material from one point to another according to a predefined track. It is a complex system composed of tractors, transhippers, or dynamic conveyors which bring the material to the necessary place exactly on time and load and unload it independently. Therefore, the system must actively process manufacturing data, react flexibly, and make decisions independently. The main advantages that AGVs offer are their flexibility, the possibility of wide use for the performance of activities, their use of space, security, and overall operating costs. For solving tasks in flexible logistics intended for industrial processes, AGVs were chosen for this the article due to these features. Also, from the deployment point of view, the AGV is one of the most widespread autonomous means of transport in industry and their deployment is possible in a wide range of internal logistics tasks. An AGV is a device that performs the function of a driverless, towing, motor tractor for transporting dynamic superstructures, dynamic tables, mobile conveyors, or peripheral handling. The AGV runs on a predetermined track (defined by default magnetic tape) on which it follows commands from RFID tags or from a superior control system. Batteries are the energy source and must be charged at charging stations during operation. Charging automatically occurs during stops between individual rides on a given circuit or by manually connecting the battery connector to the charger. Behind the AGV, wagons can be connected with the maximum width corresponding to the scanner setting and with all controlled axles to track the track of the tractor. The control system for AGVs is represented by a software solution that serves to manage the autonomous logistics resources active in the manufacturing process. Driving in this case also means avoiding collision states that limit or stop the movement of AGV tractors that are trying to cross a certain section of the track. As a rule, the control  
Figure 1: Design of system structure for verification of logistics processes using emulation. system is a set of operating system services running in the background. Thus, the task of the software solution is to automatically control the movement of individual AGV tractors, for example, through intersections, traffic lights, service points, and chargers without the need for human intervention. The algorithm of the control system for AGV is depicted in Figure 2. It shows how the information used in the creation of and the experiments in the virtual part of the logistics system is collected. The AGV-tractor control process itself begins with connecting and creating communication between the host computer and the logistics element control module (Block 1.1). This communication is provided through an Ethernet network managed by the local network administrator, and if we are connected, then we continue to (Block 1.2). If there is a problem with the host computer connection based on the information obtained from the communication system, the problem is defined (Block 1.3) and its subsequent solution proposed. This approach also applies if the Ethernet network is in order. But there is a problem with the Transmission Control Protocol TCP (Block 1.4). TCP is a reliable, connection-oriented communication protocol in the transport layer, which transmits byte flow. The connective orientation is realised between two equal communication entities (computers). This means that in order to establish a connection at the TCP protocol level, it is necessary to have  
Figure 2: The algorithm of the control system for AGVs. the option of binding the connection to the IP level, i.e., the IP addresses of the devices. Suppose a problem has been defined on the network communication side, or at the TCP level, and this issue has been resolved. In that case, communication between the host computer and the AGV control module is ensured (Block 1.5).