He Huang, Jin Zhu^*

CMES-Computer Modeling in Engineering & Sciences, Vol.144, No.2, pp. 1717-1748, 2025, DOI:10.32604/cmes.2025.068384 - 31 August 2025

Abstract Automated guided vehicles (AGVs) are key equipment in automated container terminals (ACTs), and their operational efficiency can be impacted by conflicts and battery swapping. Additionally, AGVs have bidirectional transportation capabilities, allowing them to move in the opposite direction without turning around, which helps reduce transportation time. This paper aims at the problem of AGV scheduling and bidirectional conflict-free routing with battery swapping in automated terminals. A bi-level mixed integer programming (MIP) model is proposed, taking into account task assignment, bidirectional conflict-free routing, and battery swapping. The upper model focuses on container task assignment and AGV… More >

Xinci Zhou, Jin Zhu^*

CMES-Computer Modeling in Engineering & Sciences, Vol.139, No.3, pp. 2705-2727, 2024, DOI:10.32604/cmes.2024.046363 - 11 March 2024

Abstract As the number of automated guided vehicles (AGVs) within automated container terminals (ACT) continues to rise, conflicts have become more frequent. Addressing point and edge conflicts of AGVs, a multi-AGV conflict-free path planning model has been formulated to minimize the total path length of AGVs between shore bridges and yards. For larger terminal maps and complex environments, the grid method is employed to model AGVs’ road networks. An improved bounded conflict-based search (IBCBS) algorithm tailored to ACT is proposed, leveraging the binary tree principle to resolve conflicts and employing focal search to expand the search More >

Hongyan Xia, Jin Zhu^*

CMES-Computer Modeling in Engineering & Sciences, Vol.138, No.2, pp. 1637-1661, 2024, DOI:10.32604/cmes.2023.029576 - 17 November 2023

Abstract Improving the cooperative scheduling efficiency of equipment is the key for automated container terminals to cope with the development trend of large-scale ships. In order to improve the solution efficiency of the existing space-time network (STN) model for the cooperative scheduling problem of yard cranes (YCs) and automated guided vehicles (AGVs) and extend its application scenarios, two improved STN models are proposed. The flow balance constraints in the original model are decomposed, and the trajectory constraints of YCs and AGVs are added to acquire the model STN_A. The coupling constraint in STN_A is updated, and… More >