As one kind of mobile robots, the automatic guided vehicle (AGV) has been used in more and more applications. Meanwhile, some challenges in this field still exist, which limits the AGV’s further application. One of the greatest challenges is the energy conservation due to AGV’s limited energy-storage capability. Besides, the AGV tracking issue has not been well addressed yet though being studied for over two decades. This work presents an optimal velocity scheme for AGV energy-efficient tracking control, with consideration of both trajectory tracking and energy conservation involved in a nonlinear optimization problem. The proposed controller possesses the easiness for design and universality for kinematics modeling of other wheeled mobile robots. In addition, the controller’s stability and convergence were proved using Lyapunov theory. Finally, the computer simulation results demonstrated the effectiveness of the proposed controller.