Communication and Coordination for Multi AGVs Based on MQTT Protocol

Muhammad Rizal Ariyadi, Andi Yuda Pratama, Didik Setyo Purnomo, Mohamad Nasyir Tamara*, Niam Tamami, Novan Asdianto Ramadhan, Bambang Pramujati

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


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.

Original languageEnglish
Title of host publicationIES 2023 - International Electronics Symposium
Subtitle of host publicationUnlocking the Potential of Immersive Technology to Live a Better Life, Proceeding
EditorsAndhik Ampuh Yunanto, Afifah Dwi Ramadhani, Yanuar Risah Prayogi, Putu Agus Mahadi Putra, Maretha Ruswiansari, Mohamad Ridwan, Farida Gamar, Weny Mistarika Rahmawati, Rusli Muhammad Rusli, Fitrah Maharani Humaira, Ahmad Firyal Adila
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9798350314731
Publication statusPublished - 2023
Event25th International Electronics Symposium, IES 2023 - Denpasar, Indonesia
Duration: 8 Aug 202310 Aug 2023

Publication series

NameIES 2023 - International Electronics Symposium: Unlocking the Potential of Immersive Technology to Live a Better Life, Proceeding


Conference25th International Electronics Symposium, IES 2023


  • GUI
  • Multi AGVs
  • data transmission
  • tracking AGV
  • trajectory generator


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