An Integrated Approach to Scheduling B-CAVs in Container Terminals considering Battery Management

Algorithm 2

Space-time routing method.

	Input:, , , and for all and ;
	Output: the route plan of B-CAVs in ;
(1)	foreach in do
(2)	the initial Tabu list of B-CAV is empty;
(3)	while True do
(4)	use Dijkstra algorithm to calculate a shortest route of for executing task and should not in route Tabu list;
(5)	calculate the new busy factors matrix ;
(6)	if the length of is not larger than any route in B-CAV Tabu list then
(7)	if any element of is larger than 1 then
(8)	put into the Tabu list of B-CAV ;
(9)	else
(10)	, put into ;
(11)	break;
(12)	else
(13)	use Dijkstra algorithm to calculate a shortest route of for executing task ;
(14)	put in ;
(15)	calculate the new busy factors matrix ;
(16)	foreach in do
(17)	calculate a new shortest route of ;
(18)	calculate the new busy factors matrix ;
(19)	if any element of is larger than 1 then
(20)	continue;
(21)	else
(22)	;
(23)	break;
(24)	break;
(25)	return routing plan of all in .