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

Table 8

Buffer capacity analysis.

Task quantity	Buffer capacity/objective function
	3 (min)	4 (min)	5 (min)	6 (min)	7 (min)
10	79.29	73.05	70.93	70.02	69.53
20	163.60	156.47	153.65	151.79	150.29
30	273.40	263.10	257.67	254.70	252.30
40	376.95	363.40	354.73	348.72	345.02
50	491.95	475.53	462.80	454.57	449.27