Abstract
A complex of simulation models was developed to study the processes of repair and maintenance of the system of autonomous agricultural vehicles. The general structure of the diagnostic system for robotic agricultural vehicles was presented. The hierarchical structure of simulation models for a robotic vehicle was described. A temporary colored Petri net model was proposed. The model makes it possible to evaluate the effectiveness of predictive maintenance for a given failure rate of vehicle units and aggregates. A formal description of an autonomous vehicle was developed in the form of the primary parameter multisets. The experimental results of the simulation modelling confirmed the model adequacy. The results are applied to study the work of an autonomous vehicle group in agricultural fields under difficult operating conditions.
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