Bi-Objective Integrated Scheduling of Quay Cranes and Automated Guided Vehicles

Operational efficiency is one of the key performance indicators of a port’s service level. In the process of making scheduling plans for container terminals, different types of equipment are usually scheduled separately. The interaction between quay cranes (QCs) and automated guided vehicles (AGVs) is neglected, which results in low operational efficiency. This research explores the integrated scheduling problem of QCs and AGVs. Firstly, a multi-objective mixed integer programming model (MOMIP) is conducted, with the aim of minimizing the makespan of vessels and the unladen time of AGVs. Then, embedded with a new heuristic method, the non-dominated sorting genetic algorithm-II (NSGA-II) is designed for the scheduling problem. The heuristic method includes two parts: a bay-based QC allocation strategy and a container-based QC-AGV scheduling strategy. Finally, in order to test the performance of the proposed algorithm, differently sized benchmark tests are performed, and the results are compared to the multi-objective particle swarm optimization algorithm (MOPSO) and the weighted-sum method. The computational results indicate that the proposed algorithm can effectively solve the multi-objective integrated scheduling problem of QCs and AGVs. For large-scale problems, the NSGA-II algorithm has better performance and more obvious advantages compared to others. The proposed method has the capability of providing a theoretical reference for the QC and AGV scheduling of container terminals.