Network-Aware Control of AGVs in an Industrial Scenario: A Simulation Study Based on ROS 2 and Gazebo

Abstract: Networked Control System (NCS) is a paradigm where sensors, controllers, and actuators communicate over a shared network. One promising application of NCS is the control of Automated Guided Vehicles (AGVs) in the industrial environment, for example to transport goods efficiently and to autonomously follow predefined paths or routes. In this context, communication and control are tightly correlated, a paradigm referred to as Joint Communication and Control (JCC), since network issues such as delays or errors can lead to significant deviations of the AGVs from the planned trajectory. In this paper, we present a simulation framework based on Gazebo and Robot Operating System 2 (ROS 2) to simulate and visualize, respectively, the complex interaction between the control of AGVs and the underlying communication network. This framework explicitly incorporates communication metrics, such as delay and packet loss, and control metrics, especially the Mean Squared Error (MSE) between the optimal/desired and actual path of the AGV in response to driving commands. Our results shed light into the correlation between the network performance, particularly Packet Reception Ratio (PRR), and accuracy of control.