Apple Harvesting Robot Picking Path Planning and Simulation

Abstract

For an apple harvesting robot, the efficiency of harvesting mainly depends on picking path planning. To find the best route, this article studied ant colony algorithm, and presented an improved method in picking path optimization. In this athletics methods of picking, with binocular cameras, the coordinates of ripe apples were obtained, the improved ant colony algorithm was used to obtain the optimal method for picking. Open Graphics Library was used to simulate the process of picking. Test proved that the advanced ant colony algorithm gave better results in fewer simulation loops.