Communication and Coordination for Multi AGVs Based on MQTT Protocol

This research focuses on the development of communication and coordination systems for Multi-Agent AGVs. The designed system consists of 3 subsystems, those are 4 AGVs, a trajectory generator, and GUI. The MQTT is used as a communication protocol to manage the sending and receiving of data such as coordinates, obstacles, and paths. The start and goal coordinates are provided by the GUI to the trajectory generator, which produces a safe and accurate path for the AGV. If the AGV comes across an obstacle on its way to the goal, it communicates with the trajectory generator of the obstruction’s location, current position, and goal coordinates for rerouting. The AGVsends its real-time position to the GUI continuously for control and monitoring. The experiments show the efficient and reliable performance of MQTT as a communication protocol on multiple AGVs. Three directions of communication were successfully developed including AGV to GUI, trajectory generator to AGV, and GUI to trajectory generator.