AGV dispatching and bidirectional conflict-free routing problem in automated container terminal

Abstract

Automated guided vehicles (AGVs) are automated devices that replace internal trucks in container terminals for horizontal container transportation. Compared to internal trucks, AGV has the special characteristic of bidirectional transportation. This characteristic makes AGV change the transport direction without turning around, significantly saving the transport space and time taken up by vehicle transport. However, few studies focus on the bidirectional transportation mode in the AGV scheduling problem to improve the overall efficiency of the automated container terminal (ACT). This study aims at the AGV dispatching and bidirectional conflict-free routing problem. A bi-level mixed integer programming model is proposed, which fully considers equipment coordination, bidirectional conflict-free routing, and import and export container tasks. The bi-level differential evolution algorithm based on the dynamic routing approach is developed to minimize the completion time of all tasks. A series of numerical experiments are conducted to validate the performance of the proposed bidirectional transportation mode and algorithm. The result shows that the efficiency of the bidirectional transportation mode of AGVs is more suitable in the actual ACT operation scenario, and the proposed algorithm can find a better solution within a reasonable amount of time.