In this paper, discrete time active disturbance rejection control (ADRC) method based on a novel variable pole placement extended state observer (VPPESO) is presented for trajectory tracking of automated guided vehicle (AGV) driven by two wheels. If the road is not smooth or the loading weight of the AGV is varied, the friction resistance of the wheels and the load torque of the motor will fluctuate, which will act as disturbance to the control system. The control system has a cascade control structure containing an external loop and an internal loop. The outer control loop determines the desired moving speed and steering angle as the set point of the inner control loop based on the target trajectory the current position and velocity of AGV. The inner control loop realizes active disturbance rejection control (ADRC) based on the dynamic model of AGV. The effectiveness of the control system is verified via simulation.