Research on UAV IM-PID Hybrid Control Spraying Method for Complex Canopy Environment in Tropical Orchards

With the advancement of agricultural automation and the IoT, drone-based pesticide spraying has become a crucial method for improving operational efficiency and accuracy, particularly for pest control in tall crops such as durian orchards. Traditional manual spraying often struggles with achieving uniform coverage due to the high and dense canopies, leading to pesticide waste and environmental pollution. This study proposes the IoT drone-based pesticide spraying method using the IM-PID control algorithm to address the common issue of uneven spraying in durian orchards. By combining particle swarm optimization (PSO) with the PID control algorithm and IoT sensors, the IM-PID algorithm can adjust spray flow rate and droplet distribution in real time, maintaining high accuracy in complex environments. Experimental results show that the IM-PID algorithm improves spraying uniformity and accuracy across various flight strategies and canopy levels. Compared to other commonly used algorithms like FZ-PID, GC-PID and RL-PID, the IM-PID algorithm offers significant advantages in reducing spraying deviation, improving pesticide utilization and minimizing environmental pollution.