The way a AGV in each zone in tandem AGV (Automated Guided Vehicles) systems handles the local request for transport while schedules effectively the global request for transport involving the pickup/delivery operation at the transfer point by cooperating a AGV in other zone, affect the traveling time of the AGV (and thus energy consumption), as well as the waiting time of each node in the system. So far, almost all studies on tandem AGV systems focus on the optimal number of partitioned zones (and thus the number of AGVs), the optimal location of nodes into zones, the optimal location of transfer points between each two zones, the design of AGV’s direction to minimize the total handling flow or the traveling distance of AGV in each zone. This study presented a novel scheduling approach to effectively deal with global and local request by minimizing the total traveling time within the individual zone and the waiting time at the transfer points between zones based on the cooperating control of multi-agent. The proposed approach is verified at the AGV system for book printing process as the real-world experiment and it is showed that the scheduling for multi-agent based tandem AGV system is effective