Research on joint scheduling optimization with AGVs and quay cranes consider replacement processes

Aiming at the joint scheduling problem of AGV and shore bridge in automatic container terminal, considering the waiting and power exchange process of AGV, a mixed integer programming model with the goal of minimizing the final completion time of AGV is constructed. The model considers the changes of buffer area, AGV power and the power consumption differences of AGV in light load, heavy load and waiting state. Genetic algorithm (GA) is used to solve it. Finally, through the analysis of different scale examples, the optimal allocation of shore bridges, the number of AGVs and the AGV power exchange threshold are obtained, so as to reduce the waiting time and the overall completion time.