The application of Automated Guided Vehicles (AGVs) for workpiece transportation in production processes is commonplace, particularly in the context of Industry 4.0. However, the high cost associated with AGVs presents a significant challenge. This paper proposes an approach to AGV tracking using a combination of camera-based QR code detection and ultrasonic sensors. The objective is to regulate the distance between leading and following AGVs, thereby addressing the operational costs associated with expensive equipment. Experimental investigations were conducted to assess the performance of QR symbols and color bars under varying lighting conditions, ranging from 200 lux to 650 lux. Accurate distance measurements were achieved within a range of 150 cm. In lower lighting conditions (100 lux to 250 lux), the RGB color bar detection failed at distances below 40 cm, whereas QR Code detection remained robust. Angle measurements demonstrated accurate readings up to 30 degrees from the camera’s center, within distances of 50 to 125 cm, with an anticipated deviation of no more than 0.5 degrees. Subsequently, QR code symbols were chosen as the experimental control symbol, complemented by ultrasonic sensors for inter-vehicle distance maintenance. During practical testing, if the measured distance falls below 60 cm. while moving in a straight line, the motor ceases operation. Conversely, if the distance exceeds 80 cm, the motor activates, allowing the follower AGV to uphold the specified distance behind the leader AGV.