Towards a Digital Twin for Autonomous Warehouse Fleet Control

In this work a system architecture for autonomous warehouse fleet control software is described. The fleet control software has three main components, The AGV Software, Robot Commander, and Fleet Commander. The AGV Software handles low-level robot motor control and basic instructions of the AGV robot. Robot Commander handles robot navigation and order fulfillment. Fleet Commander handles coordinated services and a webbased ordering system. The architecture selected fulfills a need for a system that can run decentralized robot control algorithms, including AS-RS algorithms, and the ability for a digital twin system to integrate to retrieve and optimize the system. This system is designed as a platform for robot guidance, racking picking and packing algorithms, camera vision, and digital twin research.