Off-line AGV routing on the 2D mesh topology with partial permutation

In this paper, we consider the routing issue for the AGV system in the large scalable flexible manufacturing system (LSFMS). After we study the existing mature techniques in the packet routing and analyze the differences between the AGV routing and packet routing model, especially on the mesh topology, we propose an off-line algorithm for AGV routing on the 2D mesh layout with partial permutation. The running time of our routing algorithm is 2n + o(n) steps for an n × n mesh layout, which is almost optimal in the worst case.