Continuous Picking Path Planning Based on Lightweight Marigold Corollas Recognition in the Field

This study addresses the core challenges of precise marigold corollas recognition and efficient continuous path planning under complex natural conditions (strong illumination, occlusion, adhesion) by proposing an integrated lightweight visual recognition and real-time path planning framework. We introduce MPD-YOLO, an optimized model based on YOLOv11n, incorporating (1) a Multi-scale Information Enhancement Module (MSEE) to boost feature extraction; (2) structured pruning for significant model compression (final size: 2.1 MB, 39.6% of original); and (3) knowledge distillation to recover accuracy loss post-pruning. The resulting model achieves high precision (P: 89.8%, [email protected]: 95.1%) with reduced computational load (3.2 GFLOPs) while demonstrating enhanced robustness in challenging scenarios-recall significantly increased by 6.8% versus YOLOv11n. Leveraging these recognition outputs, an adaptive ant colony algorithm featuring dynamic parameter adjustment and an improved pheromone strategy reduces average path planning time to 2.2 s-a 68.6% speedup over benchmark methods. This integrated approach significantly enhances perception accuracy and operational efficiency for automated marigold harvesting in unstructured environments, providing robust technical support for continuous automated operations.