Publicação
Hybrid wavefront and bidirectional A* coverage path planning for AGVs in photovoltaic farm inspection
| Resumo: | This work presents a novel Coverage Path Planning (CPP) framework integrating theWavefront Algorithm with bidirectional A* to optimize path planning for Autonomous Ground Vehicles (AGVs) that inspect photovoltaic farms. The proposed framework combines the efficient propagation capabilities of the Wavefront Algorithm with the heuristic-driven optimization of bidirectional A*, comparing the results achieved to those from the individual algorithms. The framework was validated in a Software-In-The-Loop (SITL) simulation environment using Gazebo and the Robot Operating System (ROS), focusing on AGV-based inspection of ground infrastructure and cables beneath solar panels. The outcomes demonstrate significant coverage efficiency and overall robustness. |
|---|---|
| Autores principais: | Castro, Gabriel G.R. |
| Outros Autores: | Carvalho, Lucas L. M.; Marques, Diogo G.; Lima, José; Pinto, Milena F. |
| Assunto: | Autonomous Ground Vehicle Robotic Path Planning Renewable Energy Systems |
| Ano: | 2025 |
| País: | Portugal |
| Tipo de documento: | comunicação em conferência |
| Tipo de acesso: | acesso aberto |
| Instituição associada: | Instituto Politécnico de Bragança |
| Idioma: | inglês |
| Origem: | Biblioteca Digital do IPB |
| _version_ | 1867172780430065664 |
|---|---|
| author | Castro, Gabriel G.R. |
| author2 | Carvalho, Lucas L. M. Marques, Diogo G. Lima, José Pinto, Milena F. |
| author2_role | author author author author |
| author_facet | Castro, Gabriel G.R. Carvalho, Lucas L. M. Marques, Diogo G. Lima, José Pinto, Milena F. |
| author_role | author |
| contributor_name_str_mv | Biblioteca Digital do IPB |
| country_str | PT |
| creators_json_txt | [{\"Person.name\":\"Castro, Gabriel G.R.\"},{\"Person.name\":\"Carvalho, Lucas L. M.\"},{\"Person.name\":\"Marques, Diogo G.\"},{\"Person.name\":\"Lima, José\",\"Person.identifier.orcid\":\"0000-0001-7902-1207\"},{\"Person.name\":\"Pinto, Milena F.\"}] |
| datacite.contributors.contributor.contributorName.fl_str_mv | Biblioteca Digital do IPB |
| datacite.creators.creator.creatorName.fl_str_mv | Castro, Gabriel G.R. Carvalho, Lucas L. M. Marques, Diogo G. Lima, José Pinto, Milena F. |
| datacite.date.Accepted.fl_str_mv | 2025-01-01T00:00:00Z |
| datacite.date.available.fl_str_mv | 2025-12-12T12:04:12Z |
| datacite.date.embargoed.fl_str_mv | 2025-12-12T12:04:12Z |
| datacite.rights.fl_str_mv | http://purl.org/coar/access_right/c_abf2 |
| datacite.subjects.subject.fl_str_mv | Autonomous Ground Vehicle Robotic Path Planning Renewable Energy Systems |
| datacite.titles.title.fl_str_mv | Hybrid wavefront and bidirectional A* coverage path planning for AGVs in photovoltaic farm inspection |
| dc.contributor.none.fl_str_mv | Biblioteca Digital do IPB |
| dc.creator.none.fl_str_mv | Castro, Gabriel G.R. Carvalho, Lucas L. M. Marques, Diogo G. Lima, José Pinto, Milena F. |
| dc.date.Accepted.fl_str_mv | 2025-01-01T00:00:00Z |
| dc.date.available.fl_str_mv | 2025-12-12T12:04:12Z |
| dc.date.embargoed.fl_str_mv | 2025-12-12T12:04:12Z |
| dc.format.none.fl_str_mv | application/pdf |
| dc.identifier.none.fl_str_mv | http://hdl.handle.net/10198/35212 |
| dc.language.none.fl_str_mv | eng |
| dc.publisher.none.fl_str_mv | IEEE |
| dc.rights.cclincense.fl_str_mv | http://creativecommons.org/licenses/by-nd/4.0/ |
| dc.rights.none.fl_str_mv | http://purl.org/coar/access_right/c_abf2 |
| dc.subject.none.fl_str_mv | Autonomous Ground Vehicle Robotic Path Planning Renewable Energy Systems |
| dc.title.fl_str_mv | Hybrid wavefront and bidirectional A* coverage path planning for AGVs in photovoltaic farm inspection |
| dc.type.none.fl_str_mv | http://purl.org/coar/resource_type/c_5794 |
| description | This work presents a novel Coverage Path Planning (CPP) framework integrating theWavefront Algorithm with bidirectional A* to optimize path planning for Autonomous Ground Vehicles (AGVs) that inspect photovoltaic farms. The proposed framework combines the efficient propagation capabilities of the Wavefront Algorithm with the heuristic-driven optimization of bidirectional A*, comparing the results achieved to those from the individual algorithms. The framework was validated in a Software-In-The-Loop (SITL) simulation environment using Gazebo and the Robot Operating System (ROS), focusing on AGV-based inspection of ground infrastructure and cables beneath solar panels. The outcomes demonstrate significant coverage efficiency and overall robustness. |
| dirty | 0 |
| eu_rights_str_mv | openAccess |
| format | conferencePaper |
| fulltext.url.fl_str_mv | https://bibliotecadigital.ipb.pt/bitstreams/6a32e64a-8c9a-4df4-91d3-4bedd1f28923/download |
| funding.funder.alternateName_str_mv | FCT FCT |
| funding.funder.identifier_str_mv | http://doi.org/10.13039/501100001871 http://doi.org/10.13039/501100001871 |
| funding.funder.name_str_mv | Fundação para a Ciência e a Tecnologia Fundação para a Ciência e a Tecnologia |
| funding.name_str_mv | 6817 - DCRRNI ID 6817 - DCRRNI ID |
| id | ipb_6d4c8a4f2f1528ca8c8d56377f44f245 |
| identifier.url.fl_str_mv | http://hdl.handle.net/10198/35212 |
| instacron_str | ipb |
| institution | Instituto Politécnico de Bragança |
| instname_str | Instituto Politécnico de Bragança |
| language | eng |
| network_acronym_str | ipb |
| network_name_str | Biblioteca Digital do IPB |
| oai_identifier_str | oai:bibliotecadigital.ipb.pt:10198/35212 |
| organization_str_mv | urn:organizationAcronym:ipb |
| person_str_mv | Castro, Gabriel G.R. Carvalho, Lucas L. M. Marques, Diogo G. Lima, José Lima, José https://www.ciencia-id.pt/6016-C902-86A9 6016-C902-86A9 http://orcid.org/0000-0001-7902-1207 0000-0001-7902-1207 Pinto, Milena F. |
| publishDate | 2025 |
| publisher.none.fl_str_mv | IEEE |
| reponame_str | Biblioteca Digital do IPB |
| repository_id_str | urn:repositoryAcronym:ipb |
| service_str_mv | urn:repositoryAcronym:ipb |
| spelling | engIEEEengThis work presents a novel Coverage Path Planning (CPP) framework integrating theWavefront Algorithm with bidirectional A* to optimize path planning for Autonomous Ground Vehicles (AGVs) that inspect photovoltaic farms. The proposed framework combines the efficient propagation capabilities of the Wavefront Algorithm with the heuristic-driven optimization of bidirectional A*, comparing the results achieved to those from the individual algorithms. The framework was validated in a Software-In-The-Loop (SITL) simulation environment using Gazebo and the Robot Operating System (ROS), focusing on AGV-based inspection of ground infrastructure and cables beneath solar panels. The outcomes demonstrate significant coverage efficiency and overall robustness.application/pdfengHybrid wavefront and bidirectional A* coverage path planning for AGVs in photovoltaic farm inspectionCastro, Gabriel G.R.Carvalho, Lucas L. M.Marques, Diogo G.PersonalLima, JoséDSpacehttp://dspace.org/items/d88c2b2a-efc2-48ef-b1fd-1145475e0055DSpacehttp://dspace.org/items/d88c2b2a-efc2-48ef-b1fd-1145475e0055LimaJoséCiência IDhttps://www.ciencia-id.pt6016-C902-86A9ORCIDhttp://orcid.org0000-0001-7902-1207Researcher IDhttps://www.researcherid.comL-3370-2014Scopus Author IDhttps://www.scopus.com55851941311Pinto, Milena F.HostingInstitutionOrganizationalBiblioteca Digital do IPBe-mailmailto:dspace@ipb.ptdspace@ipb.ptDOIIsPartOf10.1109/icarsc65809.2025.109701612025-12-12T12:04:12Z20252025-01-01T00:00:00ZHandlehttp://hdl.handle.net/10198/35212http://purl.org/coar/access_right/c_abf2open accessAutonomous Ground VehicleRobotic Path PlanningRenewable Energy Systems1252400 bytesFundação para a Ciência e a TecnologiaResearch Centre in Digitalization and Intelligent Robotics6817 - DCRRNI IDCrossref Funder IDhttp://doi.org/10.13039/501100001871Fundação para a Ciência e a TecnologiaAssociate Laboratory for Sustainability and Tecnology in Mountain Regions6817 - DCRRNI IDCrossref Funder IDhttp://doi.org/10.13039/501100001871other research producthttp://purl.org/coar/resource_type/c_5794conference paper2025http://creativecommons.org/licenses/by-nd/4.0/http://purl.org/coar/access_right/c_abf2application/pdffulltexthttps://bibliotecadigital.ipb.pt/bitstreams/6a32e64a-8c9a-4df4-91d3-4bedd1f28923/downloadInternational Conference on Autonomous Robot Systems and Competitions-ICARSC-Annual6469Funchal, Portugal2025 |
| spellingShingle | Hybrid wavefront and bidirectional A* coverage path planning for AGVs in photovoltaic farm inspection Castro, Gabriel G.R. Autonomous Ground Vehicle Robotic Path Planning Renewable Energy Systems |
| status | SINGLETON |
| subject.fl_str_mv | Autonomous Ground Vehicle Robotic Path Planning Renewable Energy Systems |
| title | Hybrid wavefront and bidirectional A* coverage path planning for AGVs in photovoltaic farm inspection |
| title_full | Hybrid wavefront and bidirectional A* coverage path planning for AGVs in photovoltaic farm inspection |
| title_fullStr | Hybrid wavefront and bidirectional A* coverage path planning for AGVs in photovoltaic farm inspection |
| title_full_unstemmed | Hybrid wavefront and bidirectional A* coverage path planning for AGVs in photovoltaic farm inspection |
| title_short | Hybrid wavefront and bidirectional A* coverage path planning for AGVs in photovoltaic farm inspection |
| title_sort | Hybrid wavefront and bidirectional A* coverage path planning for AGVs in photovoltaic farm inspection |
| topic | Autonomous Ground Vehicle Robotic Path Planning Renewable Energy Systems |
| topic_facet | Autonomous Ground Vehicle Robotic Path Planning Renewable Energy Systems |
| url | http://hdl.handle.net/10198/35212 |
| visible | 1 |