Optimality principles in variable stiffness control: The VSA hammer
Manolo Garabini, Andrea Passaglia, F. Belo, Paolo Salaris, Antonio Bicchi · 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems · 2011
In this paper, an optimisation model based on Pickup and Delivery Problem with Time Windows (PDPTW), and an exact algorithm based on Branch-and-Bound with Column Generation (BBCG), are presented for Autonomous Straddle Carriers Scheduling (ASCS) problem at automated container terminals. The ASCS problem is firstly modeled into a PDPTW, which is formulated as a Binary Integer Programming (BIP) and then solved by Column Generation (CG) in the Branch-and-Bound (BB) framework. The BBCG algorithm is also compared to another two exact algorithms [i.e., Binary integer Programming with Dynamic Programming (BPDP) and Exhaustive Search with Permutation and Combination (ESPC)] for the ASCS problem solving. Based on the map of an actual automated container terminal, simulation results and discussions are presented to demonstrate the effectiveness and efficiency of the presented model and algorithm for autonomous vehicle scheduling.