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