Have you considered using a standalone SMPS, and regulating on the input voltage? As explained in the app note, the precise optimum operating point varies with light level and temperature. However, setting a fixed operating point (probably around 16-17V for a 12V/36 cell panel) is a much simpler way to go, and should still give you a worthwhile gain over connecting the panels directly to the battery. You might want to try plotting some load curves for the panels you have at different light intensities. It would probably be best to use a diffuser, or a dimmable artificial light source, for these measurements, as uneven shading will muck up the results.
Do you have multiple identical PV panels? If you are going to the trouble of building a buck converter, you can connect the panels in series for more voltage, less current, and therefore less wiring losses.