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Multi-AGV scheduling for conflict-free path planning in automated container terminals

Zhong, M. ; Yang, Y. ; Dessouky, Y. ; Postolache, O.

Computers and Industrial Engineering Vol. 142, Nº 106371, pp. 1 - 11, April, 2020.

ISSN (print): 0360-8352
ISSN (online):

Scimago Journal Ranking: 1,32 (in 2020)

Digital Object Identifier: 10.1016/j.cie.2020.106371

Path planning and integrated scheduling are two important problems to be resolved in the design of any automated
container terminal. There has been relatively little research, however, on automated guided vehicles
(AGVs) conflict-free path planning with quay cranes (QCs) and rail-mounted gantry (RMG) cranes. This paper
combines the two problems to realize the integrated scheduling of multi-AGV with conflict-free path planning. A
mixed integer programming model based on path optimization, integrated scheduling, and conflicts and deadlocks
is established to minimize AGVs delay time under the condition that the task allocation is known. A series
of small-scale and large-scale experiments are conducted to validate the availability of Hybrid Genetic
Algorithm-Particle Swarm Optimization (HGA-PSO) with fuzzy logic controller to adaptive auto tuning. Dynamic
simulation of the path nodes indicates that the proposed model indeed can resolve the AGV conflict and deadlock
problem and may be practically applicable to existing automated container terminals.