Formal Model for Control of Autonomous Navigation

Formal modeling techniques can be exploited for autonomous vehicle modeling, enabling resilient navigation inside container terminals (CTs). Road vehicles will be characterized by a new intelligent vehicle technology such as Intelligent Autonomous vehicle (IAV) compared to the trucks, which are able to bring containers within the Terminal Container (TC) based on GPS. In the TC, electric unmanned aerial vehicles (UAVs) present in the TC are able to emulate redundant positioning data from the IAV, where its signals are disturbed within the corridor of containers. Petri nets are formal models suitable for modeling and controlling classes of systems such as transportation systems. They allow to control the movement of the IAV while reconstructing the positioning data of the IAV. This is ensured by GPS or by communication between the IAV that loses its position and the IAV s close to it, the other drones, and the crane. Thus, this paper proposes a reconfiguration strategy for the IAV to manage its navigation under resilient conditions, even if it loses its own GPS signal. Simulation results and perspectives are presented in this paper.