The development of an AGVS model by the union of the modulised floor-path nets

The purpose of this paper is to propose an easy and quick method for the development of an automated guided vehicle system (AGVS) model. It suggests that the AGVS model can be developed directly by the union of modulised floor-path nets without any modification. Several modulised floor-path nets for both uni- and bi-directional systems are established in this paper. To make sure that the complete model obtained by this method is robust, the modulised floor-path nets are required to possess several essential properties — safeness, boundedness, conservation, reachability and liveness. To keep these properties in the complete model after the union, three union rules and an union procedure are proposed.