20.500.12556/RUL-148226 Mobile robot system for selective asparagus harvesting Asparagus 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. asparagus delta robot mobile platform harvest detection point cloud segmentation šparglji delta robot mobilna platforma pobiranje detekcija segmentacija oblaka točk true false true Angleški jezik Slovenski jezik Članek v reviji 2023-08-03 11:53:14 2023-08-03 11:53:15 2023-08-07 11:20:41 0000-00-00 00:00:00 2023 0 0 Str. 1-17 iss. 7. [article no.] 1766 Vol. 13 Jul. 2023 0000-00-00 Zaloznikova Objavljeno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 007.52:635.31 2073-4395 10.3390/agronomy13071766 157333763 agronomy-13-01766.pdf agronomy-13-01766.pdf 1 4E43EDA295A0DADA559BA7F524226D59 f8bf29e395eaba05b822967df1dd694cc8ca1724701c5c0179b0ff8502306d9c 3701ac87-31e4-11ee-aeaf-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=172270 https://www.mdpi.com/2073-4395/13/7/1766 1 9359db87-31e3-11ee-aeaf-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=172269 Fakulteta za elektrotehniko 0 0 0