Performance Evaluation Of The Primitive Mobility Execution Of An Automated Guided Vehicle Within The Mobility Open Architecture Simulation And Tools Environment

This paper describes the role of the Primitive Mobility (PrimMob) module within the Mobility Open Architecture Simulation and Tools(MOAST) environment. Descriptions are given of several alternative implementations of the module motivated by a desire to make MOAST more usable for an industrial Automated Guided Vehicle(AGV). A series of performance metrics is described as a series of tests that allow those performance metrics to be determined. Tools added to MOAST in 2009-2010 that greatly ease recording and visualization of these performance metrics are also described.