Optimal supervisory control systems for automated unmanned container transporters in the automated container terminals

We verify that many unmanned container transporter (UCT) are controlled flexibly by searching shortest time path and applying supervisory control. Using the shortest path searching algorithm and link-occupation timetable, the system searches shortest time path. In addition, using the discrete event system modeling of UCT and event driven solution when unexpected problem is occurred, a supervisory controller is established. These path-searching algorithm and supervisory controller guarantee fast and safe operation of UCTs. Experimental results of positional acquisition and computer simulation show the effectiveness of the proposed system