Path Planning Using the Bee Colony Algorithm to Find Routes for a Coffee Plantation Using Drones

Abstract

The selling value of coffee depends on the level of maturity of the beans. The coffee plantation in Alam Indah village, Bandung district covers an area of 84 hectares or approximately 840,000 square meters, making it difficult for farmers to monitor the condition of each coffee plant individually. The objective of this paper is to provide a path planning using the bee colony algorithm to find the best routes for a coffee plantation. There are several monitoring techniques for coffee, one of which is using a drone equipped with image processing. In this research, path planning was carried out to determine the fastest route that a drone can take using the bee colony algorithm. The path planning was divided into two areas that have been adjusted to the operational capabilities of the DJI Phantom 4 drone type. The determination of the best route was carried out based on the neighborhood principle using the calculation of the highest fitness value. Each iteration entered the employed bee phase, onlooker bee phase, and scout bee phase. The result shows that there are 24 blocks that need to be passed through. Area 1 can be covered in 18.4 minutes and area 2 in 13.4 minutes at a speed of 30 km/h and a drone altitude of 10 meters. The fastest route in area 1 passes through blocks A-B-C-D-E-F-M-N-O-P-Q-L-K-G, while in area 2, the fastest route passes through blocks I-J-R-T-U-X-W-V-S-H.