Selected methods of controlling automated vehicles in container terminals

Abstract: The subject of this paper is selected methods of constructing the workspace for automated transport vehicles, in particular AGV/ALV types, and the design of their movement trajectories. An analysis of selected artificial intelligence tools in the control of autonomous vehicles has been performed.1. INTRODUCTION
The issue of flexible control of automated vehicles of the AGV (Automated Guided Vehicle)/ALV (Automated Lifting Vehicle) type is the subject of research undertaken in many scientific institutions around the world [1, 3, 21, 27].
Currently, the development of algorithms and the improvement of control methods for mobile units of the AGV/ALV type are taking place through the refinement of previously used methods [2] as well as the acquisition of new mechanisms [11, 20] and their application in dedicated digital environments. An important issue in the scope of controlling AGV/ALV type vehicles is the need for dynamic determination of their movement trajectories in a known or variable environment [13, 15, 24], movement trajectory planning (routing) [1, 8, 12], and scheduling of useful actions [15, 22].
The subject of this paper is a review of control methods for automated vehicles of the AGV/ALV type, in particular algorithms aimed at the optimal utilization of a fleet of purposefully integrated automatically controlled transport vehicles in container terminals. (…)

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