Under the constraint of input/ output buffer with limited capacity in FMS, mathematical model has established that a single AGV finish all unfinished handling tasks in the shortest time within a certain time. 针对FMS中输入/输出缓存区容量有限的约束下建立单AGV在某一时刻内未完成的搬运任务的调度问题,建立了数学模型,目标是AGV完成所有任务的时间最短。