Patent ID: 11886191
Assignee: ZHEJIANG UNIVERSITY
Field: Control (Instruments)
Classification: CPC G  B | IPC B  G

Claim 2:
3. The method for the fully autonomous waterborne inter terminal transportation scheduling according to claim 2, wherein
constraints of the dynamic scheduling model comprise:

Σv∈Vziv=1,∀i∈,  (2)

ziv=z(i+n)v,∀i∈,v∈V,  (3)

zii=1,∀i∈Vo,  (4)

ziv=1,∀i∈′(k),v∈Vd,  (5)

Σj∈xijv=Σj∈xjiv=ziv,∀i∈v∈V,  (6)

Σj∈/Vexvjv=1,∀v∈V,  (7)

Σi∈/Voxi(nv+2n(k)+nd+v)v=1,∀v∈V,  (8)

Av=kTs,∀v∈Vw,  (9)

Ai≤Ai+n,∀i∈n,  (10)

  
    
      
        
          
            
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ti,min−wi≤Ai≤ti,max−si+di,∀i∈,  (12)

0≤wi≤wmax,∀i∈,  (13)

0≤di≤dmax,∀i∈,  (14)

yv0=lv,∀v∈V,  (15)

xijv(k)=1→yi+qi=yj,∀i∈,v∈V,  (16)

0≤yj≤Q,∀i∈,  (17)

xijv,ziv∈{0,1},  (18)

where ziv(k) is an integer variable from 0 to 1; for all i∈(k), v∈V, if a wAGV v visits the node i, then ziv(k)=1, otherwise ziv(k)=0; Vo(k)={1, . . . , nv} is defined as a starting node set of all the wAGVs, and Ve(k)={nv+2n(k)+nd+1, . . . , 2nv+2n(k)+nd} is defined as an ending node set of all the wAGVs; wherein n(k)=Σv∈V|Rvp(k)|+|Rnew(k)| is a number of pickup and delivery tasks, and nd is a number of delivery-only tasks; all pick-up nodes are defined as (k)={nv+1, . . . , nv+n(k)}, delivery nodes corresponding to the pick-up nodes are defined as (k)={nv+n(k)+1, . . . , nv+2n(k)}, and the delivery-only nodes are defined as ′(k)={nv+2n(k)+1, . . . , nv+2n(k)+nd(k)}, in which u is a cruising speed of the wAGV, Ts is a step length of the time step, k is a discrete time step serial number, Ai represents the time arriving at the node i, yi is a number of containers loaded on the wAGV arrived at the node i, si is a required terminal service time, ti,min, ti,max are an earliest pickup time and a latest delivery time, respectively; Q is a maximum loading capacity of the wAGV, a subscript max indicates a maximum allowable value of corresponding physical quantity, and a subscript min indicates a minimum allowable value of the corresponding physical quantity.