A picking and steering adjustment system for blueberry harvesters has been developed. In this paper, the main hardware and working principles of the system is introduced first, then the application of an ant colony simplification algorithm in the system development is presented. Information of virtual modeling the blueberry plant images and fruit distributions is obtained through the control system which is used as input for the ant colony simplification algorithm calculation. Then results are translated into real-time travelling path planning instructions for the blueberry harvester. The research provided technological and new knowledge support for future investigations into intelligent travelling path selection, thus playing an important role in mechanization and intelligent harvesting processes for blueberry harvesters.