Abstract: A method, control system 500 and computer program for routing and rerouting of container handling vehicles 201 handling storage containers 106 in an automated storage and retrieval system comprising a framework structure 100 forming a three-dimensional storage grid structure 104 for storing the storage containers 106 in storage columns 105, the framework structure including a grid-based rail system 108 arranged above the storage columns 105 with the rail system 108 providing available routes for the container handling vehicles 201 handling and transferring the storage containers 106 to and from the storage columns 105, and wherein each container handling vehicle 201 comprises a first set of wheels configured to move the vehicle along a first lateral direction (X) of the grid-based rail system and a second set of wheels configured to move the vehicle along a second lateral direction (Y) of the grid-based rail system (108), the second direction (Y) being perpendicular to the first direction (X), the movements o

Abstract: An automated storage and retrieval system includes a framework structure forming a three-dimensional storage grid structure for storing the storage containers in storage columns. The framework structure includes a grid-based rail system arranged above the storage columns with the rail system providing available routes for the container handling vehicles handling and transferring the storage containers to and from the storage columns. Each container handling vehicle includes a first set of wheels configured to move the vehicle along a first lateral direction of the grid-based rail system and a second set of wheels configured to move the vehicle along a second lateral direction of the grid-based rail system. The second direction is perpendicular to the first direction.

Abstract: An automated storage and retrieval system includes a framework structure forming a three-dimensional storage grid structure for storing the storage containers in storage columns. The framework structure includes a grid-based rail system arranged above the storage columns with the rail system providing available routes for the container handling vehicles handling and transferring the storage containers to and from the storage columns. Each container handling vehicle includes a first set of wheels configured to move the vehicle along a first lateral direction of the grid-based rail system and a second set of wheels configured to move the vehicle along a second lateral direction of the grid-based rail system. The second direction is perpendicular to the first direction.