The invention discloses a method for planning a field operation path of an unmanned
tractor. The method comprises the following steps: A, preprocessing a farmland plot; B, acquiring position information of each vertex of the plot, and performing plot
geometric modeling; C, planning a global path by adopting an offline global path planning
algorithm, and generating an expected path; D, presetting asafe distance between the
tractor and an obstacle before driving, driving the unmanned
tractor according to the expected path and analyzing the current
working environment in real time, and judging whether to plan a local path or not by combining a
perception sensor to obtain obstacle information; E, calling an online local path
algorithm for path planning, and allowing the unmanned tractor to travel according to the local path until the unmanned tractor avoids obstacles; and F, allowing the unmanned tractor to keep running on the expected path. The invention also discloses a device for realizing the method. According to the field operation path
planning method and device for the unmanned tractor, the full-
area coverage of a
land parcel can be achieved, high universality and a good
obstacle avoidance effect are achieved, and the re-ploughing rate and the missing ploughing rate can be effectively reduced.