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

Table 4

Operation process of each kind of equipment under the two schemes with or without handshake area design.

Schemes	Equipment	Work sequence
With handshake area design	AGV1	15-8-1-10-5
	AGV2	13-20-4-9-12
	AGV3	6-18-11-19-3-14
	ASC1	15-6-8-18-1-11-10-13-19-2-0-5-4-3-9-14-12
	ASC2	14-13-7-8-20-2-17-16-10-4-19-9-5-12-3-18
Without handshake area design	AGV1	6-15-11-10-19
	AGV2	1-8-14-3-5
	AGV3	9-4-20-12-18-13
	ASC1	6-15-11-1-8-10-14-19-9-3-4-5-20-12-18-13
	ASC2	16-12-19-20-7-9-8-4-10-3-2-17-18-14-13-5