Abstract: After grain harvesting, the agricultural transport vehicles are transported from scattered farmlands to centralized grain silos. Since grain transfer by grain combine harvester is a dynamic change, the agricultural transporter is used several times within the planning range, therefore, improving the rational scheduling and transportation planning of agricultural transporter is an important factor to ensure the efficient operation of agricultural transporter. In this study, the field grain harvesting and transportation of grain combine harvesters and agricultural transporters are considered as two-stage multi-trip vehicle path problems with dynamic satellites, and a mixed integer linear programming model is proposed to solve the optimal solution for the field multi-vehicle path planning of agricultural transporters, and the stability of the model is verified through computational tests. The results show that the model error is small and can meet the basic requirements of agricultural production, and the research results provide a decision model for implementing optimal harvesting operations in agricultural production.