Work

Hybrid Wavefront and Bidirectional A* Coverage Path Planning for AGVs in Photovoltaic Farm Inspection

Year: 2025

Type: conference-paper

Abstract: This work presents a novel Coverage Path Planning (CPP) framework integrating the Wavefront 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.

Source: IEEE International Conference on Autonomous Robot Systems and Competitions

DOI: 10.1109/icarsc65809.2025.10970161

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

Institutions: Federal Center for Technological Education Celso Suckow da Fonseca, Universidade Politécnica de Bragança, Research Centre in Digitalization and Intelligent Robotics

Language: English

Topic: Robotic Path Planning Algorithms

Subfield: Computer Vision and Pattern Recognition

Field: Computer Science

Domain: Physical Sciences

SDG: Industry, innovation and infrastructure

Open Access status: green

Funder: Institute of Physics Belgrade