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Hybrid wavefront and bidirectional A* coverage path planning for AGVs in photovoltaic farm inspection

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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

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