Order-picking Algorithm for Optimizing Operation Path of Orchard Speed Sprayer
2008
Park, T.S. (Seoul National University, Seoul, Republic of Korea) | Hwang, K.Y. (Seoul National University, Seoul, Republic of Korea) | Cho, S.I. (Seoul National University, Seoul, Republic of Korea), E-mail: [email protected]
The purpose of this study was to develop an optimal path planning program for autonomous speed sprayer in orchard. A digital map which contained coordinate information and entity information including height, width, radius of main stem, and disease of a trees was developed to build an optimal path. The digital map, dynamic programming and order-picking algorithm were used for planning an optimal path for autonomous speed sprayers. When this algorithm applied to rectangular-shaped orchards to travel whole trees, the developed program planned the same working path and same traveling distance as those of created by conventional method. But for irregular-shaped orchards, developed program planned differently and 5.06% shorter path than conventional method. When applied to create path for multi-selected trees, irregular-shaped orchards showed 13.9% shorter path and also rectangular-shaped orchards showed 9.1% shorter path. The developed program always planned shorter path than the path created by conventional method despite of variation of shape of orchards.
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