Install Supervisor with sudo apt-get install supervisor. Ensure it's started with sudo service supervisor restart.
In /etc/supervisord/conf.d/ create a .conf file. In this example, laravel_queue.conf (contents below). Give it execute permissions: chmod +x laravel_queue.conf.
This file points at /usr/local/bin/run_queue.sh, so create that file there. Give this execute permissions, too: chmod +x run_queue.sh.
Now update Supervisor with: sudo supervisorctl reread. And start using those changes with: sudo supervisorctl update.