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

Claim 1:
2. The method for the fully autonomous waterborne inter terminal transportation scheduling according to claim 1, wherein
performance indexes of the dynamic scheduling model are as follows:

min c1Σv∈VΣ(i,j)∈xijvDij+c2∥w∥1+c3∥d∥1  (1),

where c1, c2 and c3 are weight coefficients of the three performance indexes in the model, wherein the first item minimizes the total driving distance, and the second item and the third item minimize the waiting time and the delay time, respectively; xijv(k) is integer binary variable with value of 0 or −1; for all (i,j)∈(k), v∈V, if wAGV v travles from node i to node j, then xijv(k)=1, otherwise xijv(k)=0; V is a fleet set with nv wAGVs; Dij is the waterway distance between the nodes i and j; vector w=[wit], i∈(k), where wit represents the waiting time at the node i; vector d=[dit], i∈(k), where dit represents the delay time at the node i; ∥⋅∥1 represents a 1 norm; (k) is a node set of an inter terminal scheduling transport network, and (k) is an edge set of the inter terminal scheduling transport network.