An autonomous-steerable-vehicle storage and retrieval system is a new storage conception, which has high space utilization and can dispatch its equipments flexibly. To achieve efficient and low-cost operations, the equipment dispatch and task assignment should be designed according to the requirements of the warehouse. In this paper, the inbound and outbound processes of the autonomous-steerable-vehicle storage and retrieval system are modeled as queue networks, which include several service centers. The equipments in each service center are dispatched to ensure the steady state of the system. A fuzzy controller based on the expected time of handling palletized units is designed, which can assign the palletized units to the optimal lifters in inbound and outbound process. In this method, the number of forklift can be reduced due to the reduction of the handling distance in the inbound and outbound processes, so that it decreases the operation cost and heightens the operation efficiency. At last, an example simulation of inbound process is shown to verify the validness of the method in the task assignment.%多模式自动化存取系统是一种新型仓储系统，其存储空间利用率高、设备配置灵活。为提高作业效率，降低运行成本，需对系统进行设备调度和任务分配，实现按需配置和管理系统资源。通过将系统的作业过程建模为多个服务中心组成的排队网络，对服务中心设备数量进行调度，保证系统稳态运行。基于预期作业时间设计具有两级模糊规则的模糊控制器，为托盘物资上下架任务分配托盘提升机，实现托盘物资上下架任务的优化分配，减少作业过程所需的运输路径，从而提高作业效率，减少作业叉车数量，降低作业成本。文中通过一个托盘物资上架任务仿真算例，验证了模糊控制任务分配策略的有效性。
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