The Berry curvature in ferromagnets and antiferromagnets has been attracting huge interests due to the tunability of topological features via the magnetic structure. However, topological features in magnetic heavy fermion systems have been sparsely studied so far. In this study, we measured the anomalous Hall effect (AHE) of kagome heavy fermion antiferromagnet U₃Ru₄Al₁₂. A large intrinsic AHE at high fields was observed, suggesting the presence of a large Berry curvature due to Weyl fermion. Moreover, the fields required to obtain the large Berry curvature are significantly different between B//a and B//a*, providing a mechanism to control the topological response in this system. These results may not only help to understand the topological heavy fermion physics, but also shed light on this system as an ideal playground for studying field-tuned topological states.