We consider the automated guided vehicle (AGV) dispatching problem in container terminals where vehicles are allowed to carry more than one container at a time. The main focus of the study is on dual-load AGVs, which may carry either two 20-ft containers or one 40/45-ft container. We propose a new mathematical formulation for the corresponding optimisation problem under a rolling horizon approach; the proposed model is a simplification over existing formulations. The performance of the model is evaluated against different scenarios with respect to minimising a defined dispatching ‘cost’. Our computational results are based on a number of scenarios for container terminals, with various layout configurations and levels of workload, and show that the model can generally be solved quickly providing good quality solutions.