# Design of a System for Verification of Automatic Guided Vehicle Routes Using Computer Emulation
## 3 Results
### Statistical Evaluation of the Experimental Test  
With the use of the created model and system described in Section 2.2.2, several experiments were realised. The first experimental test was a generated normal supply situation in which the operation of the workplace on tag 13 was tested. When the material dropped below the signal level, which was set to 5 pieces, a request was sent via the DPS Bridge communication application to the AGV tractor. The AGV tractor was set in motion, and after arriving at tag 13, the arrival of the material was recorded in the simulation model. In the experimental test, no material failure was detected in the workplace, and the minimum stock in the workplace was 3 pieces. The progress of the inventory at the workplace and the AGV-load of the tractor are shown in Figure 13.  
The AGV-load of the tractor is shown in Figure 13. The time spent riding was 78.96% of the total time. The lack of charging time proved to be problematic in the experimental test. The charging time for continuous operation on the tested AGV tractor should be at least 20.00% of the total operating time. The charging time for this variant was 14.21% of the total time. With prolonged operation, the AGV would shut down due to low battery capacity, which would result in a stock outage at the workplace. The next experiment was the generated occurrence of random events on the AGV circuit of the tractor and testing the behaviour of the system with the different factors. Statistics from these experiments are listed in Table 1.  
The second experiment was the generated occurrence of random events on the AGV circuit of the tractor. Delays in the supply of materials to the workplace were caused by  
\begin{table}
\begin{tabular}{c c c} \hline \hline
**Parameter** & **Experiment 2** & **Experiment 3** \\ \hline driving time & 66.27 & 56.94 \\ crossroad time & 0.00 & 0.00 \\ load/unload time & 5.91 & 7.69 \\ blocked time & 15.87 & 14.96 \\ charging time & 11.95 & 20.41 \\ \hline \hline \end{tabular}
\end{table}
Table 1: Results of experiments.  
Figure 12: Information Window on AGV Activities in the Simulation Model (processed in Tecomatrix Plant Simulation).  
Figure 13: Illustration: (a) Stock status at the workplace during normal operation; (b) AGV use during normal operation.  
obstacles along the route. Subsequently, by monitoring the progress of the stock situation through the simulation model, the delay in the AGV of the tractor was manifested by a lack of materials in the workplace. The missing material was reflected in the downtime of the device. Driving time was 66.27% of the total time. The time needed for loading and unloading of material was 5.91% of the total time. The addition of obstacles to the towing route in capacity utilisation added a blocking component, which represented a share of 15.87% of the total test time. Blocking reduced the charging time to level 11.95%.  
The third experimental test was to test the behaviour of the system with the factors described below. In the experiment, a standard defined circuit for the AGV tractor was used, as in the first and second experimental tests. Random blocking in the form of obstacles was generated on the circuit, as in the second experimental test. The transport capacity of the tractor was increased from the original 25 to 35 pieces. The signal level of the virtual device on tag 13 was also changed from the original 5 pieces to 10. Stocks in the workplace in this variant did not fall to the level at which the downtime of the equipment would be caused. Driving time was 56.94% of the total time. The time required for loading and unloading material increased to 7.69% of the total time. This increase was due to the need to load and unload several pieces as the transport capacity of the equipment changed. By adding obstacles to the towing route, the blocking component represented a share of 14.96% of the total test time. The time of charge was 20.41%. The charging time was sufficient to ensure the continuous operation of the equipment in the test circuit.