Abstract: The existing small agricultural transport vehicles are not highly intelligent, and it is difficult to achieve autonomous navigation and obstacle avoidance in dwarf and densely planted orchards, which may also cause harm to fruit trees or others. This design is based on the path planning and obstacle avoidance system of small agricultural transport vehicles. On the basis of small agricultural transport vehicles, path planning and automatic obstacle avoidance modules are added to detect obstacles in the environment in the path according to instructions, make corresponding obstacle avoidance actions, complete path planning and achieve optimal strategies, reach the destination, and help users transport more safely and quickly in the dwarf and densely planted orchard.