An efficient control strategy for the traffic coordination of AGVs

In this paper we propose an algorithm for coordinating a fleet of Automated Guided Vehicles (AGVs) that go through predefined paths in a dynamic industrial environment. Coordination diagrams are used to define a mapping between the configuration space of the fleet and a set of motion constraints that the vehicles must satisfy in order to avoid mutual collisions. The motion actions that maximize the advancement of the fleet while respecting the constraints are determined by a polynomial time heuristic algorithm.