Apple-Picking Robot Picking Path Planning Algorithm Based on Improved PSO

To solve the problem that robot often collides with obstacles such as branches around fruit during picking due to its inability adapt growing environment, this paper proposes an apple-picking path planning algorithm based on improved PSO. The main contents of are: firstly, and surrounding are extracted from 3D point cloud data, direction is calculated; then surface used establish spatial model obstacles; finally, particle swarm optimization (PSO) proposed plan obstacle avoidance trajectory end-effector in space, which can dynamically adjust velocity weights according trend fitness value position center mass. experimental results show PSO has faster convergence speed than standard PSO, method improves fruit-picking success rate 85.93% reduces cycle 12 s. This effectively reduce collision between manipulator apple improve efficiency.