For multiple AGVs transportation systems, a collision-free routing plan of multiple AGVs is required quickly as possible. The requests for transportation are not fixed in advance in a dynamic environment. In this paper, we propose a local rescheduling procedure for a distributed and parallel route planning system in dynamic transportation. A distributed route planning system is implemented and tested on an AGV system with multiple processing systems. The effectiveness of the local rescheduling has been investigated by an experimental 5 AGVs system. The results show that the proposed rescheduling procedure can reduce 34% of total computation time compared with that of the conventional distributed route planning method while maintaining the same level of performance.