Hybrid Wavefront and Bidirectional A* Coverage Path Planning for AGVs in Photovoltaic Farm Inspection
Gabriel G.R. Castrol, Lucas de Farias Carvalho, Diogo G. Marques, José Lima, Milena Faria Pinto · 2025
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.