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For the multi-motor servo control system of the four-wheeled omnidirectional heavy-duty Automated Guided Vehicle (AGV), under the influence of external load during steering, the four steering motors are prone to incoordination. In order to realize the efficient coordination of the four steering motors, by analyzing the real-time rotation angle relationship of each steering wheel in the four-wheel AGV under the steering conditions, a mathematical model of the four steering motors is established; the Beetle Antennae search algorithm(BAS) is adopted and PID controller fusion method, seek the optimal PID parameters for the single-motor PID controller; use the cross-coupling control strategy, design the position compensator of 4 steering motors respectively; finally verify the feasibility of the motion control algorithm through Simulink simulation. Experimental results show that the motion control algorithm has high synchronization stability, fast convergence speed, and strong anti-interference ability, which expands the application range of omnidirectional heavy-duty AGV, and therefore has high application value.