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.