Article ID Journal Published Year Pages File Type
6936643 Transportation Research Part C: Emerging Technologies 2015 20 Pages PDF
Abstract
The control of automated container terminals is complex since Quay Cranes (QCs), Automated Guided Vehicles (AGVs) and Automated Stacking Cranes (ASCs) interact intensively for transporting containers, while collision avoidance of equipment must be ensured. This paper proposes a methodology to generate collision-free trajectories of free-ranging AGVs in automated container terminals, while minimizing the makespan of the whole container handling system. A hierarchical control architecture is proposed to integrate the scheduling of interacting machines and trajectory planning of AGVs. Following a so-called overall graph sequence by a scheduler, the collision-free trajectories of AGVs are determined by solving a collection of mixed integer linear programming problems sequentially. Simulation results illustrate the potential of the proposed methodology.
Related Topics
Physical Sciences and Engineering Computer Science Computer Science Applications
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