In logistic systems Autonomous Guided Vehicles (AGVs) are used more and more often to transport goods. Examples of logistic systems are baggage handling systems on airports, train stations or ferry ports, warehouse distribution centres and parcel and postal hubs. In order to avoid collisions between AGVs or between AGVs and environmental elements such as walls, columns or racking, an environmental map may be used. An environmental map can be a grid-based map, in which the two-dimensional environment through which the AGVs move, is divided in a grid pattern. Such environmental map is used to estimate the position of the AGVs and to plan moving paths. Within this environmental map travel routes can be optimized both in time and in travel distance.
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