Design of a Modular Control System for an AGV

The application of automation technology in logistics aims to enhance efficiency and accelerate the material flow, whether it is from the warehouse to the production station or between multiple workstations in the production process. Automated guided vehicles (AG V s) are generally used to perform these tasks. This paper outlines the development of a software architecture to control AG V s via a programmable logic controller (PLC). The proposed software solution is characterized by a mod-ular structure, facilitating seamless integration and adaptability across various AG V types and their setups. Each functionality of the AG V is addressed through respective software modules, which are located within multiple organizational blocks (cyclic classes), based on the priority of their execution. The suggested software modules are categorized into six groups based on their functions. This article provides a detailed description of the “Platform/Chassis” group, focusing on the movement of the AG V.