Abstract: An intelligent crawler mine car that can be driven freely in complex mine tunnel was designed，according to mineral transportation problems，such as heavy labor intensity，high investment cost and so on.Firstly，the 3d model was established by using solidworks software，then its kinematics model was established and analyzed.On this basis，mine car path tracking was studied by using Fuzzy PID.Simulation on its straight line path，curve path was performed by MATLAB/SIMULINK.It was concluded from the simulation results that there was some deviation from the beginning stage，but the deviation can be decreased quickly through online setting of Fuzzy PID controller.Then the mine car can rapidly move close to the expected path.The study of intelligent crawler mine car was of great significance to improve the efficiency and reduce the cost of mineral transportation.

Key words: Mine tunnel, Crawler mine car, Fuzzy PID, Path tracking