It is the classical vehicle routing problem (VRP). For small/medium sized instances you find optimal solutions by formulating a (mixed) integer problem and using a MIP-solver such as Gurobi.
It is common to apply heuristics. However, they do not necessarily yield optimal solutions. The most important heuristics in this field are Tabu Search, Simulated Annealing and various algorithms inspired by biology. These heuristics proved to generate fairly good solutions, and they are without alternative when it comes to large scale problems with many side constraints. For many problems they even yield optimal solutions which is however often quite hard to prove.
However, understanding and implementing those algorithms is not a matter of a day.
I implemented a project called jsprit. jsprit is a lightweight java toolkit and can solve your problem and let you analyse the generated solutions, e.g. by visualizing them. It uses a large neighborhood search which is a combination of Simulated Annealing and Threshold Accepting (the applied algorithm principle is referenced there). You will find a number of examples that help you implementing your problem.
A straightforward approach for you is to minimize variable costs (whatever your cost measures are, e.g. distance, time, fuel or a combined measure) while considering fixed costs for your vehicles. I am sure you end up with a solution that "minimizes the tour" and utilizes your transporters appropiately. If you have problems setting up your problem, do not hesitate to contact me directly.