  Automation of logistic processes is essential to improve productivity and
reduce costs. In this context, intelligent warehouses are becoming a key to
logistic systems thanks to their ability of optimizing transportation tasks
and, consequently, reducing costs. This paper initially presents briefly
routing systems applied on intelligent warehouses. Then, we present the
approach used to develop our router system. This router system is able to solve
traffic jams and collisions, generate conflict-free and optimized paths before
sending the final paths to the robotic forklifts. It also verifies the progress
of all tasks. When a problem occurs, the router system can change the task
priorities, routes, etc. in order to avoid new conflicts. In the routing
simulations, each vehicle executes its tasks starting from a predefined initial
pose, moving to the desired position. Our algorithm is based on Dijkstra's
shortest path and the time window approaches and it was implemented in C
language. Computer simulation tests were used to validate the algorithm
efficiency under different working conditions. Several simulations were carried
out using the Player/Stage Simulator to test the algorithms. Thanks to the
simulations, we could solve many faults and refine the algorithms before
embedding them in real robots.
