Petri Net Approach of Collision Prevention Supervisor Design in Port Transport System

  • Danko Kezić
  • Igor Vujović
  • Anita Gudelj
Keywords: Petri nets, AGV, collision prevention supe1visor, human-machine interaction


Modern port terminals are equipped with various localtransport systems, which have the main task to transport cargobetween local storehouses and transport resources (ships,trains, trucks) in the fastest and most efficient way, and at thelowest possible cost. These local transport systems consist offully automated transport units (AGV- automatic guided vehicle)which are controlled by the computer system. The portcomputer system controls the fully automated transport units inthe way to avoid possible deadlocks and collisions betweenthem. However, beside the fully automated local transportunits, there are human operated transport units (fork-lifttrucks, cranes etc.) which cross the path oftheAGVfrom timeto time. The collision of human operated transp011 unit andA GV is possible due to human inattention. To solve this problem,it is necesswy to design a supe1vismy control system thatcoordinates and controls both human driven transport unit andA G V In other words, the human-machine interactions need tobe supen·ised. The supen•ising system can be realized in the waythat the port terminal is divided into zones. Vehicle movementsare supen•ised by a video system which detects the moving ofparticular l'ehicles as a discrete event. Based on detected events,dangerous moving of certain vehicles is blocked by the supe1visi11gsystem. The paper considers the design of collision preventionsupen•isor by using discrete event dynamic themy. The portterminal is modeled by using ordi1za1y Petri nets. The design ofcollision prevention supe1visor is cmTied out by using the P-inl'ariantmethod. The verification of the supervisor is done bycomputer simulation.


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How to Cite
Kezić D, Vujović I, Gudelj A. Petri Net Approach of Collision Prevention Supervisor Design in Port Transport System. Promet [Internet]. 1 [cited 2024May25];19(5):269-75. Available from:
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