Cooperative Scheduling of AGV and ASC in Automation Container Terminal Relay Operation Mode

Table 1

Example of the task number.

	Original task				Task after splitting
Task sequence	1	2	3	4	1	2	6	3	7	4
Origin	0	0	18	9	0	0	11	18	11	9
Destination	5	16	0	0	5	11	16	11	0	0