# Design of a System for Verification of Automatic Guided Vehicle Routes Using Computer Emulation
## 1 Introduction
The static planning of logistics resources can predict their utilisation at a certain point in time [14]. Flexible logistics need to be predicted based on real-world conditions [15]. The fundamental distinction between simulation, the digital twin, and emulation is that the simulation is the realisation of system future-state forecast, whereas the digital twin represents a model digital object that, with its state and attributes, is identical to the real object that was modelled, and emulation is the realisation of simulation in real time with the digital twin and other emulated (digital) objects. The basic idea of emulation is the possibility of replacing the missing elements from the manufacturing system created by their simulation model, which is subsequently linked to existing real elements [16]. The simulation model thus becomes a full-fledged replacement of the real (missing) module, or the elements of the complex simulation model are gradually replaced by real-world devices with the deployment of the relevant technologies [17]. The synergy of the deployment and cooperation of virtual and real elements in practice radically eliminates the waste caused by the need for changes in the system's design, as all potential errors are localised and addressed significantly earlier than is currently the case [18]. Emulation can serve as a link between design and implementation, making the manufacturing process more efficient. Inspection can be carried out in the process earlier, leaving more time for process changes and troubleshooting. Such a comprehensive solution enables the future adaptation of real logistics systems with the support of a virtual environment. The authors of [19] conducted research where they used the emulation of the control system that integrates a simulation model with a real manufacturing control system. Based on statistics they obtained from the system, they were able to handle the expected rush of orders and helped refine the planning logistics that were used in the control system in real processes. Other authors [20] in their study looked at the emulation of the manufacturing system, which was proposed as one of the methods for frontloading at the implementation stage of the manufacturing system. The result of their research was the confirmation that the emulator world and the real world could be combined and synchronised using a manufacturing system emulator, real manufacturing system equipment, real controllers, and system control applications. Further research on emulation systems was conducted in [21]. As a result of their research, they found that every hour of testing in an emulated environment, more than 25% of the time otherwise needed for physical testing on the site was eliminated. All of the tests in the emulated environment resulted in a seamless transition from the old system to the new. The authors in [22] indicated that, thanks to emulation, the commissioning time for new layouts can be reduced by up to 50%, and the product can be put into manufacturing earlier than planned. In the field of logistics processes, emulation was devoted to work [23] that creates connections through the simulation software FLEXIM for solving tasks in logistics. The authors in [24; 25] describe the involvement of emulation in logistics processes and the integration of the model with a physical object. There is, however, no single system that is capable of dealing not just with the specific interrelated phases, but also with the additional phases that occur in virtual commissioning and designing. This article aims to present the outputs of a research project focused on designing a system that uses computer emulation in the verification of AGV routes in internal logistics, with a description of the achieved results. The innovative benefit of such a system lies in the ability of industrial production plants to respond to the need to test logistics systems in real conditions in the event of changes in production before the installation of equipment.