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This paper aims to propose a simulation model integrated with an empirical regression analysis to provide a new mathematical formulation for automated storage and retrieval system (AS/RS) travel time estimation under class-based storage and different input/output (I/O) point vertical levels.

A simulation approach is adopted to compute the travel time under different warehouse scenarios. Simulation runs with several I/O point levels and multiple shape factor values.

The proposed model is extremely precise for both single command (SC) and dual command (DC) cycles and very well fitted for a reliable computation of travel times.

The proposed mathematical formulation for estimating the AS/RS travel time advances widely applied methodologies existing in literature. As well as, it provides a practical implication by supporting faster and more accurate travel time computations for both SC and DC cycles. However, the regression analysis is conducted based on simulated data and can be refined by numerical values coming from real warehouses.

This work provides a new simulation model and a refined mathematical equation to estimate AS/RS travel time.