The four-way pallet shuttle is an intelligent robot, which can be programmed to carry out pick-up, delivery and placement of goods in pallet bases on the three-dimensional warehouse, and can communicate with the high level or WMS system, and provides the functions of automatic identification of goods,continuous storage and retrieval and automatic stock management based on RFID, barcode identification and other logistics information technologies. ■ Reversing on the spot: driving wheels reasonably distributed, reverse of rail in situ at specific location ■ Multi-car scheduling: autonomous path planning, inter-car repulsion / multi-car scheduling for centralized inbound/outbound ■ Automatic charging: run self-diagnostics, automatically guided to charge point ■ Obstacle perception: multi-sensor coordinative navigation / real-time system monitoring