This study developed an optimized automatic straddle carrier (ASC) scheduling model for optimizing ASC container scheduling to minimize the total penalty cost. This study considered the effects of penalty costs associated with both early and tardy completion of the unloading tasks in the scheduling process. The researchers of this study used the unloading scheduling of eight containers at Keelung Port as a case study and integrated the just-in-time philosophy and the minimum penalty rule to minimize the total penalty cost. The results revealed that the integrated approach proposed in this study can reduce the total penalty cost for ASC scheduling, achieving a cost savings of 38.75% compared to the worst-case scenario.