To achieve automatic path tracking of underground load-haul-dump (LHD) vehicles, this paper proposes a control algorithm based on the Pure Pursuit model. MATLAB simulations were conducted to analyze the influence of key parameters on tracking accuracy systematically. The results show that path curvature is the primary factor affecting lateral error, with significant error increases occurring at locations where curvature changes abruptly. Vehicle speed mainly influences the peak error during the initial tracking stage but has little effect on the steady-state error. Initial pose deviation only affects the transient convergence process and does not alter the steady-state tracking accuracy. Furthermore, tracking experiments using actual recorded LHD trajectories were performed to validate the effectiveness and feasibility of the proposed algorithm under real operating conditions. This study provides a theoretical basis and technical reference for autonomous navigation and control of underground LHD vehicles.