Port automation has emerged as a transformative solution enabling seaport management to efficiently handle the escalating volume of operations, driven in part by the advancements in low-cost long-distance maritime transport. In this context, the use of Automated Guided Vehicles for the loading and unloading of ships creates a need to optimize the conflictfree routing of these vehicles, in order to guarantee the safe transportation of goods within automated container terminals. In this work, we propose an Integer Linear Programming model to address the problem of collision-free path planning of Automated Guided Vehicles in container terminals where each vehicle is associated to one routing request. Numerical experiments are performed to evaluate the proposed method's performances. Conclusions are drawn regarding its efficiency, and future avenues of research to address the problem are proposed.