Simulation Tool for Hybrid AGVs based on IEC-61131



AGV, IEC-61131, PLC, fine-tuning


AGVs or automatic guided vehicles are unmanned battery-powered trucks used to transport loads in logistics and production. They are equipped with a controller, normally an industrial programmable logic controller (PLC), that processes the information of the guiding sensor and computes the signals to control the motors with the aim of following the desired trajectory. The tracking error, the traveled distance, and the time to execute a task depend on the parameters of the controller. Indeed, parameters that work in a circuit may not work in a different one. Thus, the fine-tuning of the controller is a key factor. In order to improve this process, in this work, an IEC61131-based simulation tool has been developed to evaluate the performance of the controller with different trajectories and search the configuration that provides the minimum guide error. The tool can run on a computer or on the AGV’s PLC. The simulation tool can execute the same code that is running in the AGV


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Author Biographies

Victor Ruiz Molledo, University of Burgos

Víctor Ruiz Molledo nacido en Burgos, España. Es graduado en Ingeniería en Electrónica Industrial y Automática por la Universidad de Burgos (UBU) en el año 2021. Sus principales líneas de investigación son: automatización, PLC, AGVs, modelado y simulación.

Jesus Enrique Sierra Garcia, University of Burgos

Jesús Enrique Sierra García nacido en Burgos, España. Es Ingeniero en Electrónica e Ingeniero de Telecomunicación por la Universidad de Valladolid (UVA), Máster en Ingeniería de Sistemas y Control (UNED), y Doctor en Ingeniería Informática por la Universidad Complutense de Madrid (UCM). Desde 2012 trabaja en la Universidad de Burgos, donde actualmente es profesor del área de Ingeniería de Sistemas y Automática. Es fundador de la unidad mixta de investigación ASTI-UBU en Tecnologías Aplicadas a Vehículos Autónomos, Robótica Móvil y AGVs. Ha sido investigador principal en 15 proyectos de I+D relacionados con robótica móvil. Sus principales líneas de investigación son: control inteligente, robótica, AGVs, simulación y energía eólica.


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How to Cite

Ruiz Molledo, V., & Sierra Garcia, J. E. (2021). Simulation Tool for Hybrid AGVs based on IEC-61131. IEEE Latin America Transactions, 20(2), 317–325. Retrieved from