Have you ever tried just leaving him be? If he's not crying it's likely he's practicing his locomotion skills and many times babies fall back to sleep on their own after having a work out in their crib. My general rule is if they're not crying, not to go in.
PU/PD may be too stimulating for him if he's spiritied. You might opt for just the PD portion, laying him back down over and over as needed, but again, I'd reserve this for when he's truly worked up and crying. There is a thread for spirited babies around here somewhere. Have you checked it out? I don't recall if it's on a sleep forum or on the EASY forum -- I can have a look if you've not come across it.
PS, what's his nighttime sleep like and what was his sleep life before he started the wiggling/crawling thing?