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.
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