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

Table 7

Comparison of algorithm results.

Sequence	N  B  K	GA		PSO		Deviation (%)
		(min)	Time (s)	(min)	Time (s)
1	10  3  2	68.57	47.50	69.34	48.60	1.11
2	10  3  3	69.61	48.50	70.12	49.70	0.73
3	20  3  3	125.27	87.60	128.32	91.10	2.37
4	20  4  4	131.99	86.90	154.00	92.30	14.29
5	50  3  5	482.31	206.40	507.41	210.90	10.11
6	50  4  5	377.78	212.50	487.81	289.60	22.00
7	80  4  5	823.04	496.60	857.06	564.20	4.00
8	80  5  5	797.46	480.90	833.73	494.40	4.35
9	100  4  6	1014.18	718.30	1098.09	749.00	7.64
10	100  5  6	987.43	795.00	1079.72	819.00	7.78
11	150  5  6	1385.71	1673.00	1655.83	1676.50	16.32
12	150  5  8	1438.43	1720.00	1708.34	1741.00	15.80
13	200  4  10	1896.8	2950.00	2051.52	2994.00	7.54
14	200  5  10	1784.4	2992.00	1888.16	3007.00	5.50