Modelling of integrated scheduling problem of capacitated equipment systems with a multi-lane road network

The coordination of different container-handling equipment is an important method for improving the overall efficiency of automated container terminals. In the real terminal, we should consider many real-life issues, such as the equipment capacity, the equipment collision, changing lanes in the multi-lane road, and choosing one of container-handling lanes for each container. This paper proposes the integrated scheduling problem of three container-handling equipment with the capacity constraint and the dual-cycle strategy, for simultaneously solving the equipment scheduling problem, the assignment problem of the container-handling lane and the conflict-free route planning problem of automated guided vehicles (AGVs). With the objective of minimizing the ship’s berth time, we propose a mixed-integer programming model based on the space-time network representation method and two bilevel optimization algorithms based on conflict resolution rules. Finally, numerical experiments are conducted to verify the effectiveness of the proposed model and two bilevel optimization algorithms.