Abstract: A method and a system for controlling the travel path of automated guided vehicles in a system where at least one automated guided vehicle is in the form of a towing vehicle pulling at least a first wagon. A path for the towing vehicle to travel along is determined, as well as a first position of the towing vehicle. Data identifying the first position is stored in a data storage unit and a reserved state is assigned to a path portion based on the stored data. A second vehicle is prohibited from entering the path portion while in the reserved state, to prevent collision. The towing vehicle is moved from the first position, along the path, to a second position, and the reserved state of the path portion is cancelled once the first wagon has passed the path portion.

Abstract: An AGV system comprising a plurality of AGVs operating in a workspace is provided. The workspace having at least one alley in which AGVs are not allowed to pass each other. A central control unit has access to a stored representation of the workspace, wherein in the stored representation of the workspace an entrance/exit node is located immediately outside a respective entrance, wherein before a first AGV carrying a load and being located externally of the alley and having a planned route into said alley, is allowed to occupy a portion of the workspace that corresponds to one of said entrance/exit nodes in the stored representation of the workspace, the control unit determines if there is a risk of conflict with any other AGV already present in the alley. A method of controlling an AGV system is also provided.

Abstract: A method and a system for controlling the travel path of automated guided vehicles in a system where at least one automated guided vehicle is in the form of a towing vehicle pulling at least a first wagon. A path for the towing vehicle to travel along is determined, as well as a first position of the towing vehicle. Data identifying the first position is stored in a data storage unit and a reserved state is assigned to a path portion based on the stored data. A second vehicle is prohibited from entering the path portion while in the reserved state, to prevent collision. The towing vehicle is moved from the first position, along the path, to a second position, and the reserved state of the path portion is cancelled once the first wagon has passed the path portion.