Suboptimal and conflict-free control of a fleet of AGVs to serve online requests

In this paper we propose a centralized control method for routing and scheduling fleet of autonomously guided vehicles that serves online transportation requests. Our maintains central schedule, which is revised each time vehicle finishes its current task or new request arrives. The main benefit the schedule it ensures provably conflict-free large on almost any layout, permits optimization taking all routes schedules into account at same time. We pay special attention to parking may block way moving vehicles, our inserts pull-off them. are improved by various strategies, such as reducing delays swapping order crossing lane, elimination loops in created pull-offs. demonstrate capabilities series computational tests, also compare mechanism recent designed handling