Fuente: WIPO "tomato" Provided are a path planning method and apparatus for a tomato inspection robot. The method includes updating a weight of a heuristic function under a previous iteration ordinal number based on a cost of a positive node under a current iteration ordinal number. A positive heuristic function value set and a negative heuristic function value set are calculated. A positive node and a negative node under a next iteration ordinal number is determined. If there is no obstacle on a direct connection path between the positive node and the negative node under the next iteration ordinal number, backward tracing is performed from the positive node under the next iteration ordinal number to a start point and from the negative node under the next iteration ordinal number to an end point to obtain a planned path. If there is an obstacle, a next iteration is entered.