多载AGV是一种自动化集装箱码头水平作业设备，它可以同时搬运多个集装箱，可缩小AGV流的规模，增大AGV的利用率。为了提高自动化集装箱码头的作业效率，考虑了垂岸式集装箱堆场布局，以最小化作业总费用为规划目标，以作业限制、时间窗长度、负载平衡等为约束条件，以事件驱动的调度策略为研究方法，建立了多载 AGV调度问题的混合整数规划模型。同时利用GUROBI和遗传算法求解多载AGV的作业总费用和空载率，并与相同条件下单载AGV的作业总费用和空载率对比，验证了多载AGV的优越性。%Multi‐load AGV (automated guided vehicle ) is a kind of level work equipment for automated container terminals .It can carry multiple containers at the same time and is capable of reducing the scale of AGV flow ,w hile increasing utilization rate of AGV .In order to improve the operation efficiency of automated container terminal ,layouts of vertical shore‐type container yards are taken into account , minimal total operational cost is regarded as planning target , operational restrictions ,length of time window and load balance are viewed as constraint conditions , and scheduling policy driven by events is applied as research method to establish a mixed‐integer programming model for the scheduling of multi‐load AGV . Meanwhile , GUROBI and genetic algorithm are applied to solve the total operational costs and empty‐loading ratio of multi‐load AGV . Furthermore ,a comparison with the total operational cost and empty‐loading ratio of single‐load AGV is made to verify the superiority of multi‐load AGV .
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