Taking a pitaya plantation park as the background,the navigation obstacle avoidance strategy of the front wheel guide and rear wheel differential drive type AGV under the modes of barrierfree linear tracking and local trajectory active anti-collision obstacle avoidance were studied.For the former obstacle avoidance mode, the lateral position deviation and heading angle of AGV driving along the center of the linear ridge were taken as the input, and the expected steering angle of the front wheel was taken as the output by using fuzzy control algorithm, and the synergetic effect of the front and rear wheels was controlled combining the AGV kinematics model.For the latter obstacle avoidance mode,a static/dynamic obstacles active avoidance algorithm of AGV under local trajectory was designed based on the principle of rolling optimization.The simulation results based on Matlab show that the navigation obstacle avoidance strategy has certain effectiveness and reliability, and it provides a theoretical reference for the practical application of wheeled AGV in orchard navigation obstacle avoidance.