This paper designs with FPGA as the control core of the blind-guide-handcart control system on the basis of preview follower theory.The system can realize the control of traveling on the normal blind road

avoiding obstacle and distinguishing of traffic lights

so it provides security for the blind traveling.Firstly

the system builds an integrated control model of angle and velocity based on the plane geometry constraint.Secondly

this paper proposes a servo self-tuning control algorithm that is suit to FPGA based on fuzzy rules

and achieves the direction and speed comprehensive control of blind-guide-handcart.Then the design fulfills modeling and debugging under the Matlab environment

and applies Quartus II to design and simulate for system controller after the successful commissioning.Experiments show that the system has strong real-time and reliability

and has a great extent safety for protecting the blind traveling.