Abstract: A distribution system comprising a transport plane for distributing objects and carriers for transporting the objects. A drive system moves the carriers on the transport plane. A control system of the distribution system is configured to control the carriers to move on a planned route from a start position to a final destination position on the transport plane. The control system comprises a routing system configured to calculate the planned route for at least two carriers on the transport plane by modeling the transport plane with nodes and graphs and using a windowed hierarchical cooperative informed search algorithm. The routing system is configured to determine reserved and free time windows for each node. The routing system is configured to assign an individual reservation length to each carrier for the next move on free time windows and assigns an infinite reservation time to the node of a logical position.

Abstract: The present disclosure relates to a method and a distribution system to move carriers on a transport plane. The distribution system comprises at least one first carrier and at least one second carrier, a transport plane comprising a number of moving positions, a drive device adapted to move each carrier to the moving positions, and a control device adapted to control the drive device. The control device plans moves for each carrier, checks the planned moves and plans new moves if required before the carriers are moved on the transport plane.