At present, manual operation is the main mode of tunnel trolley walking. In order to improve its intelligence and construction efficiency, a trolley path tracking control method based on Fuzzy pure pursuit is proposed. The combination of pure pursuit algorithm and fuzzy control changes the mode of traditional trolley walking by wheel rail or tire manual operation. The abstract mathematical model of trolley is established to determine the turning radius in the process of trolley tracking path, the simulation experiments of tracking straight line and lane changing curve are carried out, and the test trolley is built to test the pure tracking model and fuzzy pure pursuit model, and the experimental results are compared. The results show that the maximum lateral error of the control system proposed in this paper is no more than 5cm in the process of linear path tracking, and converges at the tracking path x = 7.3m. The average absolute error after stabilization is 0.004m. The simulation and experimental results verify that the proposed control system is effective in improving the convergence speed and stability.