The automated sorting warehouses are operated by multiple AGVs simultaneously, which can quickly sort a large number of packages. How to solve the problems of multi-AGVs scheduling, path planning and conflict resolution is the key to the reliable and rapid operation of the warehouse system. In order to improve the reliability and sorting efficiency of the system, the objective of this paper is to minimize the maximum handling completion time. Firstly, a multi-AGVs path planning algorithm based on Grid Blocking Degree (GBD) is proposed. This algorithm can plan a conflict-free handling path for each handling task of each AGV, and update the path dynamically according to the real-time traffic congestion. Furthermore, aiming at the comprehensive optimization of scheduling and path planning, a scheduling algorithm based on priority rules is proposed to determine the handling task for AGVs. The data experiments compare the difference of the solution effect of different priority rules, and verify the effectiveness of the algorithm proposed in this paper.

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