Evolutionary Algorithms and Simulation for Intelligent Autonomous Vehicles in Container Terminals

The study of applying soft computing techniques, such as evolutionary computation and simulation, to the deployment of intelligent autonomous vehicles (IAVs) in container terminals is the focus of this thesis. IAVs are a new type of intelligent vehicles designed for transportation of containers in container terminals. This thesis for the first time investigates how IAVs can be effectively accommodated in container terminals and how much the performance of container terminals can be improved when IAVs are being used. In an attempt to answer the above research questions, the thesis makes the following contributions: First, the thesis studies the fleet sizing problem in container terminals, an important design problem in container terminals. The contributions include proposing a novel evolutionary algorithm (with superior results to the state-of-the-art CPLEX solver), combining the proposed evolutionary algorithm with Monte Carlo simulation to take into account uncertainties, validating results of the uncertain case with a high fidelity simulation, proposing different robustness measures, comparing different robust solutions and proposing a dynamic sampling technique to improve the performance of the proposed evolutionary algorithm. Second, the thesis studies the impact of IAVs on container terminals’ performance and total cost, which are very important criteria in port equipment. The contributions include developing simulation models using realistic data (it is for the first time that the impact of IAVs on containers terminals is investigated using simulation models) and applying a cost model to the results of the simulation to estimate and compare the total cost of the case study with IAVs against existing trucks. Third, the thesis proposes a new framework for the simulations of container terminals. The contributions include developing a flexible simulation framework, providing a user library for users to create 3D simulation models using drag-and-drop features, and allowing users to easily incorporate their optimisation algorithms into their simulations

Evolutionary fleet sizing in static and uncertain environments with shuttle transportation tasks - the case studies of container terminals

This paper aims to identify the optimal number of vehicles in environments with shuttle transportation tasks. These environments are very common industrial settings where goods are transferred repeatedly between multiple machines by a fleet of vehicles. Typical examples of such environments are manufacturing factories, warehouses and container ports. One very important optimisation problem in these environments is the fleet sizing problem. In real-world settings, this problem is highly complex and the optimal fleet size depends on many factors such as uncertainty in travel time of vehicles, the processing time of machines and size of the buffer of goods next to machines. These factors, however, have not been fully considered previously, leaving an important gap in the current research. This paper attempts to close this gap by taking into account the aforementioned factors. An evolutionary algorithm was proposed to solve this problem under static and uncertain situations. Two container ports were selected as case studies for this research. For the static cases, the state-of-the-art CPLEX solver was considered as the benchmark. Comparison results on real-world scenarios show that in the majority of cases the proposed algorithm outperforms CPLEX in terms of solvability and processing time. For the uncertain cases, a high-fidelity simulation model was considered as the benchmark. Comparison results on real-world scenarios with uncertainty show that in most cases the proposed algorithm could provide an accurate robust fleet size. These results also show that uncertainty can have a significant impact on the optimal fleet size

An improved memetic algorithm to enhance the sustainability and reliability of transport in container terminals

This paper improves our previous attempts in which we studied a combination of an evolutionary algorithm (EA) and Monte Carlo simulation (MCS). Results of those studies showed the process of sampling in MCS is very time consuming. This prevents the EA from producing an accurate estimation of the robust solutions within reasonable time. Thus the present work improves the performance of the EA to make it possible to reach high quality solutions in reasonable time, therefore yielding a number of more practical solutions in real cases. Firstly, it proposes a new sampling technique to generate samples that better reflect the worst-case scenarios. This helps the EA to find more robust solutions using smaller sample sizes. Secondly, it proposes a new adaptive sampling technique to adjust the sample size during evolution. Subsequently, to evaluate the proposed algorithm we tested it in a typical environment with shuttle transport tasks: container terminal. Experimental results show that such improvements led to a significantly improved performance of the EA, thus making the proposed algorithm perfectly usable for empirical cases

Green vehicle technology to enhance the performance of a European port: a simulation model with a cost-benefit approach

In this paper, we study the impact of using a new intelligent vehicle technology on the performance and total cost of a European port, in comparison with existing vehicle systems like trucks. Intelligent autonomous vehicles (IAVs) are a new type of automated guided vehicles (AGVs) with better maneuverability and a special ability to pick up/drop off containers by themselves. To identify the most economical fleet size for each type of vehicle to satisfy the port's performance target, and also to compare their impact on the performance/cost of container terminals, we developed a discrete-event simulation model to simulate all port activities in micro-level (low-level) details. We also developed a cost model to investigate the present values of using two types of vehicle, given the identified fleet size. Results of using the different types of vehicles are then compared based on the given performance measures such as the quay crane net moves per hour and average total discharging/loading time at berth. Besides successfully identifying the optimal fleet size for each type of vehicle, simulation results reveal two findings: first, even when not utilising their ability to pick up/drop off containers, the IAVs still have similar efficacy to regular trucks thanks to their better maneuverability. Second, enabling IAVs ability to pick up/drop off containers significantly improves the port performance. Given the best configuration and fleet size as identified by the simulation, we use the developed cost model to estimate the total cost needed for each type of vehicle to meet the performance target. Finally, we study the performance of the case study port with advanced real-time vehicle dispatching/scheduling and container placement strategies. This study reveals that the case study port can greatly benefit from upgrading its current vehicle dispatching/scheduling strategy to a more advanced one