当前的自动化集装箱码头岸边作业节能优化调度方法不能在最短完成时间下最小化运输能耗，且没有解决最短完成时间下全向自主AGV节能作业与避碰路径的规划冲突，迫切需要研究新的优化调度方法以提高作业能效。本项目在前期研究基础上，综合作业过程的混杂动态行为，进一步深入开展最短完成时间下节能作业建模和优化调度方法研究。首先，对码头设备的非线性运动方程进行分段仿射近似逼近，求解双目标优化问题获得单运输模式最短完成时间下的最小运输能耗；其次，针对多运输模式的作业差异提出基于阶段分解的节能调度迭代优化算法，降低作业差异对作业能效的影响；最后，建立全向自主AGV的三自由度避碰运动模型，基于分层控制方法提出一种序列任务规划算法来协调AGV节能作业与避碰路径的规划冲突。本项目将为我国研发新的自动化集装箱码头智能调度系统提供有效的理论支持和方法途径，实现码头高效节能的货物存储与中转。

The existing operational scheduling methods for automated container terminals cannot minimize transport energy consumption with minimum makespan, and meanwhile these methods cannot resolve the planning conflict between energy-efficient operations and collision-free routing of free-ranging AGVs. To achieve these potentials, a new scheduling approach needs to be investigated for improving energy efficiency. Based on the previous research basis, this project, using a hybrid system perspective, will further build mathematical models and propose new scheduling methods to explore the relationship between makespan and energy consumption. First of all, the nonlinear kinetic model of equipment is approximated by piecewise affine functions and a bi-objective optimization problem is then formulated to minimize energy consumption with minimum makespan for a single transport mode. Secondly, when it comes to multiple transport modes, a stage-based iterative scheduling algorithm is proposed for decreasing influence of operation differences on energy efficiency. Furthermore, a three-degree kinetic model of free-ranging AGVs is built, and then a sequential job planning method is proposed for resolving the conflict between energy-efficient operations and collision-free routing. The results of this project will provide valuable theoretical support and a methodology for developing a new intelligent scheduling system for automated container terminals, obtaining more energy-efficient freight storage and transshipment.