The article presents the concept of automated final process of aircraft taxiing to the gate at the terminal. On the basis of an analysis of the possibilities of aircraft taxiing in civil airports, the authors attempted at optimizing this process. The main objective of the project is to reduce the taxiing time, consequently reducing fuel consumption as well as the rotation time. As a result of the work, the authors designed a controller based on fuzzy logic, which, depending on the initial parameters, calculates the set values for the execution system of aircraft control in the horizontal plane and for the taxi speed. The controller receives two input signals, which determine two output signals. The designed controller allows comprehensive and fully automated aircraft steering. The project relies on data with regard to the apron class D, suited to handle aircraft with a wingspan of up to 52 m and the characteristics of a Boeing 767-200 in speed taxiing and the maximum turn of the nose gear. The measurements of the apron have been adopted in accordance with international regulations in the ICAO DOC 9157 “Aerodrome Design Manual”. The maximum deviation of the nose gear from the centre line was assumed 2.5 m in each direction and a safe distance behind the immobile aircraft equal to 25 m. The length of the Boeing aircraft 767-200 is below 48 m, therefore the input boundary parameters are equal to +/- 2.5 m from the centre line and 80 m from the designated aircraft stand (nose gear). The article presents the project of the controller and its optimization. The authors simulated the controller operation in the package MATLAB “Simulink”. The article ends with data analysis and final conclusions.