Navigation of Apple Tree Pruning Robot Based on Improved RRT-Connect Algorithm

Pruning branches of apple trees is a labor-intensive task. robots can save manpower and reduce costs. A full map the orchard with collision-free paths, which navigation planning, essential. To improve efficiency tree pruning robot, an improved RRT-Connect algorithm was proposed. Firstly, to address disadvantage randomness in expansion algorithm, goal-biased strategy introduced. Secondly, shorten path length, mechanism nearest node selection optimized. Finally, optimized where redundancy nodes were removed, Bezier curves used deal sharp further length smoothness. The experimental results show that proposed this paper cover whole orchard, 32% shorter than algorithm. overall time 35% This shows has better adaptability planning environment. will contribute automation operations provide valuable references for future research on planning.