Cooperative Path Planning of Ground-air Robots for Distributed Photovoltaic Inspection

Abstract

Abstract Facing the Distributed PV generation inspection scenario, to overcome the low efficiency of traditional manual inspection and the insufficient endurance of existing UAV inspection, UAV aerial inspection and UGVs to provide energy supply in the road network are adopted, and a path planning method that prioritizes the meeting points is proposed. Firstly, the improved genetic algorithm is used to plan the inspection path of each UAV, then the UAV path is clustered to determine the optimal number of meeting points, then the adaptive particle swarm algorithm is used to find the best location of the meeting points in the road network, and finally, the patrol path with the meeting points is optimized twice. Through the simulation test of the standard data set and real data, the effectiveness of the proposed method in solving the path planning problem of distributed photovoltaic coordinated inspection by ground-to-air robots is verified.