Abstract
A traffic control scheme for a multiple automated guided vehicle (AGV) system is described. Both the global route and local trajectory of an AGV are determined from origin to destination. The system should find the shortest non-congested route. The dynamics of the network are considered in relation to multiple AGVs occupying nodes and links on their routes. An algorithm for routing multiple AGVs with dynamic constraints is described. It predicts future interference with other vehicles and takes this into account for routing in relation to link length. Simulations with eight vehicles are described.