Research on Three Picking Arm Avoidance Algorithms for Agaricus Mushroom Picking Robot

For the Agaricus mushroom picking robot independently developed, in order to improve the picking efficiency, a three picking arm design is used, But the three picking arms will collide each other when they work at the same time, which greatly affects the picking efficiency. To solve this problem from a control perspective, a three picking arm avoidance algorithm based on genetic algorithm is now proposed. On the basis of analyzing the geometric constraints of the picking arm space and the distribution of mushrooms in the field, the fitness function is defined by the number of collisions during the picking process of the three picking arms. Code which picking arm is assigned to each mushroom in the picking area to reduces the number of collisions during cooperative picking with three picking arms. The experimental results prove that this algorithm can completely avoid collision during the picking process, and it has been proved that the overall efficiency can be improved by 0.2-0.4 times through the experiment of mushroom cultivation base.