## 1 Introduction  
With the development of society and the economy, the traditional manufacturing industry is facing dual pressures of rising land and labor costs, as well as competition in product prices. The material preparation stage in the production lifecycle of manufacturing products, namely the material storage stage, requires a large amount of labor, material resources, and factory area resources without generating any additional value. Therefore, there is an urgent need for cost reduction and efficiency improvement reforms. In this context, the Automated Storage and Retrieval System (AS/RS), based on key equipment such as high-rise shelves, stackers, and AGVs, has been promoted and applied in a wide range of industries due to its inherent advantages in storage capacity, unmanned degree, and operational efficiency. Especially for today's manufacturing industry, which has just experienced the impact of the epidemic, researching the application of the AS/RS has important potential social security significance [1]. As a typical labor-intensive industry, the introduction of the AS/RS for material storage is becoming an important trend for major shipyards to improve their material management level. The picking operation is the main business of the warehousing process, which usually accounts for more than 65% of the total workload. Therefore, research on order-picking optimization is one of the hot subproblems of AS/RS application problems, which has important practical significance, and this is no exception in the shipbuilding industry. However, it should be noted that the AS/RS order-picking problem in shipyards has its characteristics, as follows. C1: Palletization is commonly used for the picking and usage of materials in shipyards. Palletization refers to the inherent set attribute of orders, and orders within the same pallet must be picked and outbound in the same batch. The efficiency of the operation is based on the overall picking time of the pallet. C2: The processes of retrieving containers and picking the orders out from the containers to the pallet should be carried out simultaneously. The characteristics of small batch customized ship products determine that the AS/RS picking objects in the shipyard are many orders with significant differences. Therefore, pickers need the SKU (Stock Keeping Unit) numbers to assist in identifying during the order-picking process, which means the delayed order-picking strategies are not applicable in the shipyard AS/RS. The above two characteristics indicate that the order-picking scheduling problem in the shipyard AS/RS is a complex scheduling problem that combines batch sorting of order groups and intragroup order-picking scheduling. Meanwhile, the tasks require multiple devices to complete. Especially under the conditions of multiple aisles, multiple picking stations, and multiple AGVs, this problem is more complex and difficult to solve than traditional order-picking problems. Its research has stronger practical significance and application value. A large amount of research has been conducted on order-picking problems to optimize the operational efficiency of the AS/RS. Through relevant research reviews, the current research hotspots in order picking are gradually moving towards practical applications. Many mathematical models have been established for special scenarios in practical applications, as well as abundant optimization algorithms that consider a series of special elements such as different warehouse layouts, AGV power capacity limitations, order distribution routing problems, order conflict restrictions, etc. However, there are some shortcomings in existing research results, which have led to their inability to solve the AS/RS order-picking problems in shipyards. Most studies only consider single optimization objectives such as job efficiency or total order delay time, without simultaneously considering the dual demands of efficiency and cost [2; 3; 4].