Abstract: With the advent of the era of agricultural intelligence, the application of robot technology in the field of intelligent picking in agriculture and fruit industry is becoming more and more extensive. As the core technology of picking operation, the advanced degree of path planning algorithm plays a decisive role in the efficiency and quality of picking operation. Therefore, according to the characteristics of path planning algorithm of picking mechanical arm, it can be divided into four categories such as swarm optimization algorithm, graph search algorithm, probability map algorithm (PRM) and rapidly expanding random tree algorithm (RRT), and based on the above classification, the representative research achievements of domestic and foreign scholars in recent years are introduced, the advantages and disadvantages of various path planning algorithm applied in picking operations are analyzed, and the feasibility, applicability and limitations of various algorithms are systematically summarized by comparison. Finally, the future development direction of path planning algorithm of picking mechanical arm is prospected, and specific suggestions on algorithm optimization are put forward, providing some ideas for path planning research of picking mechanical arm.

Key words: picking, mechanical arm, obstacle avoidance, motion planning, path planning, algorithm optimization

摘要： 随着农业智能化时代到来，机器人技术在农业、林果业智能采摘领域的应用愈发广泛，路径规划算法作为采摘作业的核心技术，其先进程度对采摘作业的效率和质量起着决定性作用。为此，针对采摘机械臂路径规划算法的特点，将其划分为群优化算法、图搜索算法、概率地图算法(PRM)和快速扩展随机树算法(RRT)四大类，并基于上述分类，介绍近年来国内外学者具有代表性的研究成果，重点分析各类路径规划算法应用在采摘作业时的优缺点，通过对比，系统的总结各类算法的可行性、适用性以及局限性。最后，对采摘机械臂路径规划算法未来发展方向进行展望，提出算法优化的具体意见，为采摘机械臂路径规划研究提供一定的思路。

关键词: 采摘, 机械臂, 避障, 运动规划, 路径规划, 算法优化