UAV Path Planning for Autonomous Spraying Task at Salak Plantation based on the Severity of Plant Disease

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In this study, we propose a method of UAV path planning using modified particle swarm optimization (PSO) algorithm for autonomous spraying task at Salak (snake fruit) plantation based on the severity of plant disease. There are three levels of plant disease severity, i.e., high, moderate, and low disease severity. The modified PSO algorithm ignores the first level because the severity of the disease is high, so it will be impractical if the spraying process is conducted. Spraying process is conducted to moderate and low disease severity areas. Objective function is modified to meet the requirements, i.e., which areas will be sprayed and in which areas spraying is not necessary, so that spraying method becomes efficient. The simulation shows that the method of UAV path planning in this paper is applicable and more efficient than the previous method.