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In recent years, it has been gradually recognized that efficient scheduling of automated guided vehicles (AGVs) can help companies find the balance between energy consumption and workstation satisfaction. Therefore, the energy consumption of AGVs for the manufacturing environment and the AGV energy efficient scheduling problem with customer satisfaction (AGVEESC) in a flexible manufacturing system are investigated. A new multi-objective non-linear programming model is developed to minimize energy consumption while maximizing workstation satisfaction by optimizing the pick-up and delivery processes of the AGV for material handling. Through the introduction of auxiliary variables, the model is linearized. Then, an interactive fuzzy programming approach is developed to obtain a compromise solution by constructing a membership function for two conflicting objectives. The experimental results show that a good level of energy consumption and workstation satisfaction can be achieved through the proposed model and algorithm.