An integrated hardware/software platform for both simulation and real-time autonomus guided vehicles navigation

This paper presents an integrated hardware/software platform for the simulation of real-time Autonomus Guided Vehicles (AGV) navigation. The platform employs the same software architecture and code actually running onboard the real-time hardware to perform off-line the control and navigation simulation. By means of this approach it is possible to optimise control parameters, simulate the logistics or the achievement of the path planned and also make the vehicle actually run with the same all-in-one software. This method allows to reduce development time necessary for debugging, optimising control algorithms and identifying system and/or control parameters; the same software is exploited also for variables flow control and for monitoring the whole state of the system. The above platform was used for the optimisation of AGV potential field control for real-time obstacle avoidance.