Journal of Biosystems Engineering

Korean Society for Agricultural Machinery (한국농업기계학회)
권호 표지
DOI QR코드

DOI QR Code

Order-picking Algorithm for Optimizing Operation Path of Orchard Speed Sprayer

과수원 스피드스프레이어의 작업 경로 최적화를 위한 오더 피킹 알고리즘

  • Park, Tu-San (Department of Biosystems & Biomaterials Science and Engineering, Research Institute for Agriculture and Life Science, Seoul National University) ;
  • Hwang, Kyu-Young (Seoul National University) ;
  • Cho, Seong-In (Department of Biosystems & Biomaterials Science and Engineering, Research Institute for Agriculture and Life Science, Seoul National University)
  • Published : 2008.02.25
Download PDF
⟨ Previous Next ⟩

Abstract

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.

Keywords

References

  1. Blackmore, B. S. and T. Steinhauser. 1993. Intelligent sensing and self-organizing fuzzy logic techniques used in agricultural automation. ASAE paper No. 931048, Summer meeting
  2. Cho, J. N. 2002. Development of the order picking strategy algorithm for WMS in SCM environment. Masters degree thesis of University of Incheon. (In Korean)
  3. Cho, S. I. and N. H. Ki. 1995. Backward control simulation of tractor-trailer using fuzzy logic and genetic algorithms. Journal of Biosystems Engineering 20(1):87-94. (In Korean)
  4. Cho, S. I. and N. H. Ki. 1996. Autonomous speedsprayer using machine vision and fuzzy logic(I) -Graphic simulation-. Journal of Biosystems Engineering 21(2):167-174. (In Korean)
  5. Jang, I. J., T. H. Kim and M. D. Cho. 1995. Development of unmanned speedsprayer (I) -Remote control and induction cable system-. Journal of Biosystems Engineering 20(3):226- 235. (In Korean)
  6. Ki, N. H., S. I. Cho and C. H. Choi. 1996. Autonomous speedsprayer using machine vision and fuzzy logic (II) -Real operation-. Journal of Biosystems Engineering 21(2):175-181. (In Korean)
  7. Lee, J. H., S. I. Cho and J. Y. Lee. 1998. Autonomous speedsprayer using DGPS and fuzzy control (II) -Real operation-. Journal of Biosystems Engineering 23(1):75-82. (In Korean)
  8. Lee, J. -Y. 1999. Autonomous Speedsprayer Using DGPS and GIS. Masters degree thesis of Seoul National University. (In Korean)
  9. Toda, M., O. Kitani, T. Okamoto and T. Tori. 1993. Studies on autonomous vehicles for agricultural robotics. ASAE paper No. 933091, Summer meeting