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

Castro, Gabriel G.R.; Carvalho, Lucas L. M.; Marques, Diogo G.; Lima, José; Pinto, Milena F.

http://hdl.handle.net/10198/35212

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Authors

Castro, Gabriel G.R.

Carvalho, Lucas L. M.

Marques, Diogo G.

Lima, José

Pinto, Milena F.

Abstract(s)

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.

Keywords

Autonomous Ground Vehicle Robotic Path Planning Renewable Energy Systems

URI

http://hdl.handle.net/10198/35212

Citation

Castro, Gabriel G.R.; Carvalho,ucas L.M.; Marques, Diogo G.; Lima,José; Pinto, Milena F. (2025). Hybrid wavefront and bidirectional A* coverage path planning for AGVs in photovoltaic farm inspection. In International Conference on Autonomous Robot Systems and Competitions-ICARSC-Annual. Funchal, Portugal. p.64-69.