Publication
Hybrid wavefront and bidirectional A* coverage path planning for AGVs in photovoltaic farm inspection
| datacite.subject.fos | Engenharia e Tecnologia::Engenharia Eletrotécnica, Eletrónica e Informática | |
| datacite.subject.fos | Engenharia e Tecnologia::Outras Engenharias e Tecnologias | |
| datacite.subject.sdg | 11:Cidades e Comunidades Sustentáveis | |
| dc.contributor.author | Castro, Gabriel G.R. | |
| dc.contributor.author | Carvalho, Lucas L. M. | |
| dc.contributor.author | Marques, Diogo G. | |
| dc.contributor.author | Lima, José | |
| dc.contributor.author | Pinto, Milena F. | |
| dc.date.accessioned | 2025-12-12T12:04:12Z | |
| dc.date.available | 2025-12-12T12:04:12Z | |
| dc.date.issued | 2025 | |
| dc.description.abstract | 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. | eng |
| dc.description.sponsorship | This work was supported by national funds through FCT/MCTES (PIDDAC): CeDRI, UIDB/05757/2020 (DOI:10.54499/UIDB/05757/2020) and UIDP/05757/2020 (DOI:10.54499/UIDB/05757/2020); SusTEC, LA/P/0007/2020(DOI: 10.54499/LA/P/0007/2020). The authors would like to thank the following Brazilian Federal Agencies, CEFET/RJ, FAPERJ, CNPq, INESC P&D Brasil, and IPB for supporting this research. This work was carried out with the support of the Coordenação de Aperfeiçoamento de Pessoal de Nível Superior - Brasil (CAPES) - Finance Code 001. | |
| dc.identifier.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. | |
| dc.identifier.doi | 10.1109/icarsc65809.2025.10970161 | |
| dc.identifier.uri | http://hdl.handle.net/10198/35212 | |
| dc.language.iso | eng | |
| dc.peerreviewed | yes | |
| dc.publisher | IEEE | |
| dc.relation | Research Centre in Digitalization and Intelligent Robotics | |
| dc.relation | Associate Laboratory for Sustainability and Tecnology in Mountain Regions | |
| dc.relation.ispartof | 2025 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) | |
| dc.rights.uri | http://creativecommons.org/licenses/by-nd/4.0/ | |
| dc.subject | Autonomous Ground Vehicle | |
| dc.subject | Robotic Path Planning | |
| dc.subject | Renewable Energy Systems | |
| dc.title | Hybrid wavefront and bidirectional A* coverage path planning for AGVs in photovoltaic farm inspection | eng |
| dc.type | conference paper | |
| dspace.entity.type | Publication | |
| oaire.awardTitle | Research Centre in Digitalization and Intelligent Robotics | |
| oaire.awardTitle | Associate Laboratory for Sustainability and Tecnology in Mountain Regions | |
| oaire.awardURI | info:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDP%2F05757%2F2020/PT | |
| oaire.awardURI | info:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/LA%2FP%2F0007%2F2020/PT | |
| oaire.citation.conferenceDate | 2025 | |
| oaire.citation.conferencePlace | Funchal, Portugal | |
| oaire.citation.endPage | 69 | |
| oaire.citation.startPage | 64 | |
| oaire.citation.title | International Conference on Autonomous Robot Systems and Competitions-ICARSC-Annual | |
| oaire.fundingStream | 6817 - DCRRNI ID | |
| oaire.fundingStream | 6817 - DCRRNI ID | |
| oaire.version | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |
| person.familyName | Lima | |
| person.givenName | José | |
| person.identifier | R-000-8GD | |
| person.identifier.ciencia-id | 6016-C902-86A9 | |
| person.identifier.orcid | 0000-0001-7902-1207 | |
| person.identifier.rid | L-3370-2014 | |
| person.identifier.scopus-author-id | 55851941311 | |
| project.funder.identifier | http://doi.org/10.13039/501100001871 | |
| project.funder.identifier | http://doi.org/10.13039/501100001871 | |
| project.funder.name | Fundação para a Ciência e a Tecnologia | |
| project.funder.name | Fundação para a Ciência e a Tecnologia | |
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