Scheduling optimization for two crossover automated stacking cranes considering relocation
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Scheduling optimization for two crossover automated stacking cranes considering relocation Sumin Chen1,2 · Qingcheng Zeng1 · Yushan Hu1 Received: 17 February 2020 / Revised: 9 July 2020 / Accepted: 3 September 2020 © Springer-Verlag GmbH Germany, part of Springer Nature 2020
Abstract In this paper, we focus on the two crossover automated stacking cranes (ASCs) scheduling problem that arises at a storage block in an automated container terminal. To address relocation during retrieval operations, we use two methods with job precedence constraints: (1) adjusting the operation sequence of jobs to avoid relocation operations and (2) optimizing the dispatching for relocation operations to improve the efficiency of ASCs. Therefore, the method proposed in this paper optimizes the dispatching for storage, retrieval, and relocation and the routes of the ASCs while considering interferences between the ASCs and job precedence constraints. A branch-and-cut algorithm based on the characteristics of the problem is designed to decompose the problem into two problem classes connected via logic-based Benders constraints. Numerical experiments indicate that the proposed algorithm is efficient for solving realistically sized problems. Furthermore, the influence of the number of relocations is investigated based on experimental results. Keywords Container terminals · Automated stacking crane scheduling · Relocation · Benders constraints · Branch-and-cut algorithm
* Qingcheng Zeng [email protected] Sumin Chen [email protected] Yushan Hu hu‑[email protected] 1
School of Maritime Economics and Management, Dalian Maritime University, 1 Linghai Road, Dalian 116026, People’s Republic of China
2
Collaborative Innovation Center for Transport Studies of Dalian Maritime University, 1 Linghai Road, Dalian 116026, People’s Republic of China
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S. Chen et al.
1 Introduction Automation is one of the latest trends in container terminals, due to its advantages of high efficiency and stability, guaranteed safety, low labour cost, and environmental friendliness (Yang et al. 2015; Hu et al. 2016). To improve the competitiveness of container terminals, terminal operators have made many efforts to automate several operation aspects. Automated stacking cranes (ASCs) represent a great success story from this period and can increase the number of containers handled and stored with less cost and space requirements (Briskorn and Angeloudis 2016). A typical layout of the automated container terminals (ACTs) is illustrated in Fig. 1. In an ACT, the storage yards are divided into several blocks that are perpendicular to the quay line. Multiple input/output (I/O) points are located on both the seaside and the landside of each block, and trucks or automated guided vehicles (AGVs) enter or leave these sides to perform storage and retrieval jobs. In each block, all of these handling jobs are completed by ASCs. As the decoupling point between seaside and landside transport, container yards play a major role in the performance of
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