An efficient and optimized Automated Guided Vehicles (AGVs) operation plays a critical role in improving the performance of a Flexible Manufacturing System (FMS). Among the main elements in the implementation of AGV is task scheduling. This is due to the fact that efficient scheduling would enable the increment of productivity and reducing delivery cost whilst optimally utilizes the entire fleet. In this research, Binary Particle Swarm Optimization (BPSO) is used to optimize simultaneous machines and AGVs scheduling process with makespan minimization function. It is proven that the method is capable to provide better solution compared to others.