Since the traditional guidance technology of the AGV (Automatic Guidance Vehicle) has high environmental requirements and insufficient guidance flexibility, an positioning and guidance system of the AGV is proposed based on an UWB (Ultra WideBand) indoor positioning technology. Firstly, a time-based bidirectional ranging method is combined with a multi-base station positioning algorithm to locate the AGV. Secondly, the error generated by the positioning result is compensated to obtain the most accurate AGV actual coordinates. Thirdly the path of the AGV in the actual environment is programmed by using the weighted A* algorithm under different road conditions. The experimental result shows that the AGV with UWB indoor positioning technology has advantages of a high guiding flexibility, simple to use, good safety, stability, and high practical value.