A belt-like permanent magnet and a magnetic sensor, as a guide path and a guide sensor, are employed for a magnetic guidance system for an automated guided vehicle. A magnetic flux sensor using a saturable coil has high sensitivity and stability, which are necessary to detect the weak magnetic field from the guide belt. The guide sensor consists of the magnetic flux sensor and the magnetic switches. Several saturable coils are used to detect a wide area. The guide sensor produces several kinds of signals to control the steering of the vehicle, by detecting the magnetic guide belt.