As a part of Industry 4.0, which is the name for the current trend of automation and data exchange in manufacturing systems, there is a significant development in the field of autonomous guided vehicles (AGV). Within this master thesis, we developed software for control of AGV systems. The control covers dispatching, routing and scheduling of vehicles' tasks. An implementation of the software is based on node graphs and the time-window method. The software was tested in a simulation environment for different scales of the working environment, and a different number of tasks. The results show that the software is sufficiently fast. It can plan up to 100 tasks within 5 seconds with 100% success rate. The result of our work is a mathematically sound, flexible, scalable, and modular solution. According to the results, the solution can be used in real-world cases. The algorithm was also implemented using the Robot Operating System (ROS) framework.