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

Claim 3:
4. The method for the fully autonomous waterborne inter terminal transportation scheduling according to claim 1, wherein the step of inserting a newly arrived transportation task into possible positions in all existing paths of the wAGVs, and calculating an insertion cost according to a path calculated in the previous step but has not been completely executed under a rolling horizon framework comprises:
for all the wAGVs, defining an incomplete path thereof as v(k)={r1, . . . , rm}, where ri, i=1, . . . , m is a node to be visited in a previous plan of the wAGV v, and v(k) may be an empty set; assuming that the newly arrived transportation task is pi, di, inserting the task into all possible positions in the existing paths of the wAGVs, and calculating the insertion cost; for the pick-up node pi, inserting the task into an edge ri, rj of a certain path v(k); if neither the capacity nor the time window constraints are violated, calculating the insertion cost as:

Δdp=dripi+dpirj−drirj,

where dripi represents a distance from the node ri to the node pi; sorting the costs of all possible insertion positions of the pick-up node pi in an ascending order, and then starting from the smallest Δdp, inserting, in a similar way, the delivery node di into the possible positions which do not violate the capacity and the time window constraints after the corresponding picking node pi, and calculating the insertion cost of the delivery node di as Δdd; selecting a minimum Δdd value and the current corresponding Δdp, then the cost of inserting the new task pi, di into the path v(k) being Δdp+Δdd; sequentially calculating the cost of inserting pi, di into current paths of all wAGVs and selecting the paths and positions corresponding to the selected minimal cost value, and inserting the task to update the path; processing all newly arrived transportation tasks in turn according to an arrival time sequence.