Mobile robot system for selective asparagus harvestingŠlajpah, Sebastjan (Avtor) Munih, Marko (Avtor) Mihelj, Matjaž (Avtor) asparagusdelta robotmobile platformharvestdetectionpoint cloud segmentationAsparagus harvesting presents unique challenges, due to the variability in spear growth, which makes large-scale automated harvesting difficult. This paper describes the development of an asparagus harvesting robot system. The system consists of a delta robot mounted on a mobile track-based platform. It employs a real-time asparagus detection algorithm and a sensory system to determine optimal harvesting points. Low-level control and high-level control are separated in the robot control. The performance of the system was evaluated in a laboratory field mock-up and in the open field, using asparagus spears of various shapes. The results demonstrate that the system detected and harvested 88% of the ready-to-harvest spears, with an average harvesting cycle cost of 3.44 s ± 0.14 s. In addition, outdoor testing in an open field demonstrated a 77% success rate in identifying and harvesting asparagus spears.20232023-08-03 11:53:14Članek v reviji148226UDK: 007.52:635.31ISSN pri članku: 2073-4395DOI: 10.3390/agronomy13071766COBISS_ID: 157333763sl