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The HC-SR04 ultrasonic module is used as the sensor to obtain the information of the surrounding environment of the robot. The chain forklift is taken as the actuator for the handling of the goods. The STM32F103 single-chip microcomputer is used as the robot controller. A small crawler handling robot is designed for automatic handling and automatic obstacle avoidance. Aiming at the complexity of the system obstacle avoidance in the local static environment, a fuzzy control algorithm is presented. The control algorithm of the obstacle avoidance is also implemented after establishing the fuzzy rules of the distance between the robot and the obstacles. In order to improve the stability of the robot and the reliability of the obstacle avoidance, a mathematical model of the DC motor is established, and the integral PID algorithm is used for simulating. Finally, the experiments show that the algorithm can improve the control performance of the motor.