The design and realization of an on line control system for automated guided vehicles (AGV) is addressed. A synthesis method is proposed based on the use of the model checking tool for timed automata UPPAAL. This system has to route the vehicles while ensuring the system safeness, a good coordination between vehicles and the optimization of performance criteria. This problem is like synthesizing a Ramadge and Wonham supervisor combined with routing and optimizing functions, that is an ongoing problem within the supervisory control theory. The proposed concepts are validated through a software tool suite based on UPPAAL in order to generate optimal traces and interact with an AGV system emulated with Arena.