Infrastructure representation for container terminal simulation

Abstract

Microscopic simulation of container terminal is incomplete without sophisticated and authentic movement of mobile handling equipment. The modelled infrastructure has to be processed before the path finding takes its place. In this paper, the infrastructure is represented by navigation mesh which splits the traversable space into multiple convex polygons. A simple algorithm for creation of navigation mesh is presented, with some extensions dedicated to specific container terminals environment. Additional more complex algorithms are listed as well. Finally a combination of navigation mesh and grid-of-tiles approach is given.