Abstract: To solve the problems of large harvesting area, variable terrain and complex control of swarm harvesting robots, a path planning of A^* algorithm for swarm harvesting robots based on map server is proposed. The map server uses map tile technology to divide large-size picked maps into tilemaps, adopts the K-means algorithm to divide the harvesting area, and publishes the combined map through the request distribution mechanism. The harvesting map is allocated and the working range of the swarm harvesting robot is limited. The traditional A^* algorithm is improved by adding the list of points to be traversed, and the path planning of the swarm harvesting robot in the regional map is realized. The results show that the A^* algorithm based on the map server takes 13% less time than the traditional A^* algorithm. It can complete the fruit tree traversal of the swarm harvesting robot in the area map and avoid the movement interference of the swarm harvesting robot.