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

Table 2

Bay-location distribution of tasks.

Task number	Initial position	Target location	Task type	Relay or not
1	0	10	L	No
2	25	40	L	No
3	0	29	L	Relay
4	36	0	U	Relay
5	0	27	L	Relay
6	19	0	U	No
7	22	40	L	No
8	0	30	L	Relay
9	35	0	U	Relay
10	0	26	L	Relay
11	15	0	U	No
12	32	0	U	Relay
13	39	0	U	Relay
14	0	38	L	Relay
15	15	0	U	No
16	40	25	U	No
17	28	40	L	No
18	34	0	U	Relay
19	0	25	L	Relay
20	29	0	U	Relay