Özet:

Today, the agricultural sector is becoming a high-tech industry with new companies and investors. The rapid development of technology not only improves farmers’ production capabilities, it also develops robotics and automation technologies. Farmers are now increasing their production productivity using autonomous aircraft and robots in harvesting. In this study, it is aimed at collecting the savings in the fields of agricultural land to autonomous unmanned air and land vehicles in communication with the time minimization of previously established apples. The main problem is resolved by dividing into small subproblems in order to optimize the time due to the fact that the current problem is very large. The k-medium accumulation method has been used to determine the locations of the stations of the ground vehicles and to resolve the process of determining these locations. The programming language of Julia is used for calculations. The study found that the optimal number of stops for 500 apples considered to be collected as an example was 3. The model prepared to optimize the time of apple collection of aircraft at each station was solved with the help of the Gurobi solution and achieved the results. The study resulted in an average waiting time of about 439 seconds at each station of the ground vehicle. Today, the agricultural sector is becoming a high-tech industry with new companies and investors. Rapid development of technology not only improves farmers’ production capabilities, but also improves robotics and automation technology. Farmers are now increasing their production efficiency by using autonomous aircraft and robots in harvesting. In this study, it is aimed to collect the harvest by the time minimization of the previously determined apples in the agricultural land in communication of autonomous unmanned air and ground vehicles. Due to the fact that the current problem is very large, the main problem is solved by dividing it into small sub-problems in order to make time optimization. K-means clustering method was used to determine the locations of the ground vehicles' stops and to analyze it. Julia programming language is used for calculations. In the study, the optimal number of stops for 500 apples was found to be 3. The model prepared to optimize the apple picking times of air vehicle at each stop was resolved with the help of the Gurobi solvent and the results were achieved. As a result of the study, the average waiting time of the ground vehicle at each stop was approximately 439 seconds.

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