In this paper, we propose an algorithm for coordinating a group of mobile robots that go through predefined paths in a dynamic industrial environment. Coordination diagrams are used for representing the possible collisions among the vehicles. We exploit this information for developing a centralised and incremental planning algorithm that allows to coordinate the vehicles and to take into account unexpected events that can occur in an industrial environment. Simulation tests have been executed in order to compare the performance of our algorithm with the one currently implemented by the company.