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Automatic Guided Vehicle (AGV) has been widely applied in automatic logisticssystem because it provides flexibility and efficiency. This paper addressesreview and design of multi AGVs system (MAGS) and its coordination control tobe implemented at containers terminal logistics systems. It focuses on designof electric AGV and supervisory control to coordinate multi AGVs. Firstly,related previous works by other researchers are reviewed including containersterminal system, application of AGV in logistics systems and multi mobilerobots control systems. Secondly, application of AGV system in containersterminal is proposed including AGV design specification, AGV control method,multi AGV system supervisory control method, and containers terminal portmodel. Conclusions have been obtained as follows: an electric AGV may bedeveloped using electric motors with total power between 700-900KW and speed of228 rpm; a MAGVS is proposed based on free ranging navigation system using GPS,digital compass and rotary encoder sensors; path planning, coordination andtraffic management control is conducted by the supervisory controller based onpriority based coordinative (PBC) control algorithm; a model of MAGVS forcontainers terminal logistics system can be developed using the navigationsystem and PBC control algorithm.

Automatic Guided Vehicles System and Its Coordination Control for Containers Terminal Logistics Application