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AGVs.
Modelling Paradigms
Four AGV modelling paradigms are supported in QUEST:
Global Control Paradigm
If the controller does the decision-making all the time the paradigm is referred to as global
control.
Local Control Paradigm
When the decision point makes all the decisions, thus acting as a local controller, the paradigm
is local control.
Mixed Paradigm
Mixed paradigm is the combination of both global and local control paradigms. Both global and
local control paradigms can be effectively and easily mixed together. In the mixed paradigm
model any different or specific behavior required at the local decision point level is handled by
the local controller; and the general decision making behavior is done by the global controller.
The decision point, acting as a local control, can make a few decisions with the others being
taken care of by the global controller. In addition both local and global controllers can also
make a decision with the local decision point processing the first decision and then passing it
along to the global controller. The control flow from the local control can be diverted to global
control at any time to give the flexibility to make decisions at both levels.
Independent Paradigm
In the independent paradigm local or global controllers do not control the AGVs and the
decision points have no logic. The AGV has its own logic that defines its independent behavior.
The AGV makes all the decisions such as where to move and what to load or unload. Special
user-written logic is required for the independent paradigm. In general, as an independent
element, the AGV moves from decision point to decision point looking for anything to load or
unload and repeats the same cycle. The default paradigm provided by QUEST is the global
paradigm where the controller makes all the decisions and decision points act