Control of interacting machines in automated container terminals using a sequential planning approach for collision avoidance |
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| Institution: | 1. Logistics Research Center, Shanghai Maritime University, Shanghai 200135, China;2. School of Economics & Management, Shanghai University of Electric Power, Shanghai 200090, China;1. Engineering Research Center of Container Supply Chain Technology, Ministry of Education, Shanghai Maritime University, Shanghai 201306, PR China;2. School of Mathematics and Applied Statistics, University of Wollongong, Wollongong, NSW 2522, Australia;1. Faculty of Engineering and Computing, Coventry University, Priory Street, Coventry CV1 5FB, UK;2. Southampton Business School, University of Southampton, Southampton SO17 1BJ, UK;1. Faculty of Engineering and Computing, Coventry University, Priory Street, Coventry CV1 5FB, UK;2. Southampton Business School, University of Southampton, Southampton SO17 1BJ, UK;3. Department of Naval Architecture and Ocean Engineering, University of Sao Paulo, Av. Prof. Mello Moraes, 2231, Sao Paulo 05508-030, Brazil |
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| 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. |
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| Keywords: | Automated container terminals Free-ranging AGVs Scheduling Collision avoidance |
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