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THE ACTIPOT SYSTEM
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500 time sec ACTIPOT system assigned crane Automated Highway Systems automated trucks bk.k Bode plots busy rate coefficient collision possibility container terminal Control Design control law control logic crane idling cruise deadlock decision control dedicated lanes Export Buffer front wheels ICTF individual truck inland port intervehicle spacing lateral controllers lateral error load longitudinal and lateral longitudinal control longitudinal velocity mode navigation system nonlinear number of trucks operating overall system path performance Petri Net Pier G platoon POrt and Terminals possible collision quay cranes rad/sec relative velocity RFDC road centerline road curvature road reference frame rolling friction semi-trailer sensors separation distance service lane ship turnaround shown in Figure simulation results single-mode crane spread spectrum steering angle string stability supervisory controller system between Inland token tractive tire force tractor CG tractor front axis trailer rear axis truck automation truck model truck number truck velocity turbocharger unload velocity response yaw angle