Browsing by Author "Carvalho, Lucas L. M."
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- Hybrid wavefront and bidirectional A* coverage path planning for AGVs in photovoltaic farm inspectionPublication . Castro, Gabriel G.R.; Carvalho, Lucas L. M.; Marques, Diogo G.; Lima, José; Pinto, Milena F.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.