METHOD AND SYSTEM FOR EFFICIENT SCHEDULING FOR PLURALITY OF AUTOMATED NONHOLONOMIC VEHICLES USING SCHEDULER OF COORDINATED ROUTES Russian patent published in 2016 - IPC G05D1/00 

FIELD: transport.

SUBSTANCE: invention relates to methods and system for coordinated routes scheduling in warehouse. System comprises automated vehicles, each of which is equipped with navigation module, connected with steering system and system of movement, and central processor which executes commands for producing task for automated vehicles, accessing multi-level graph containing high-level nodes, constructing grid connected with warehouse, selection of several squares from grid squares for determining of connecting routes, constructing set of graphs of solutions of routes maps multilevel graph, selection of a coordinated routes of set of graphs of solutions cards routes, and transmitting plan coordinated routes to automated transport facilities, navigation module of each of which controls steering system and system of movement in accordance with coordinated plan routes.

EFFECT: technical result consists in faster scheduling routes.

21 cl, 9 dwg, 2 tbl