Research On Three-dimensional Path Planning Of Solar Photovoltaic Panel Cleaning Robot

At present,the solar photovoltaic panels are widely used in photovoltaic power generation.The dust in the air is continuously deposited on the surface of the photovoltaic panels in the practical application,which in part influences the power generation efficiency of the photovoltaic panels.If the photovoltaic panels can be effectively cleaned,the power generation efficiency of the power stations will be improved under the same installed capacity.The traditional cleaning method is manual cleaning which leads to higher cost,while mobile cleaning robots can effectively solve the challenges of traditional manual work.The mobile cleaning robots performing cleaning operation in the solar power stations which are as big as thousands of acres,the first problem to solve is how to obtain the path.So it is of great significance to research for the path planning of the mobile cleaning robots.The research for the path planning in three-dimensional space of solar photovoltaic panel cleaning robots in this paper can mainly contain several parts:(1)The environment modeling problem which is firstly solved when the mobile cleaning robots are used to carry out the tasks of cleaning the photovoltaic panels in the large-scale solar power stations in the northwest region.An environment map based on a digital elevation model will be used in it,and the three-dimensional maps can be generated according to the traffic results and environmental constraint analysis.(2)The path of solar photovoltaic panel cleaning robots is planned based on the particle swarm algorithm and the gravity search hybrid algorithm(PSOGSA).The hybrid algorithm has excavated the global search ability of particle swarm optimization algorithm and the local search ability of gravitational optimization algorithm,which is a good solution to the easy collision with obstacles and easily fall into the local minimum in global path planning.This algorithm is tested in a three-dimensional environment,and the experimental results show that the algorithm has a good adaptability under the complex environment.It can also effectively avoid the local minimum and improve the accuracy of the path.(3)The MATLAB simulation platform is used to visually design the three-dimensional environment models and the hybrid algorithm,and set the parameter of algorithm and show the simulation results in order to verify the feasibility of the algorithm.In this paper,the digital elevation model is used to establish the environment map of solar power station.This paper presents a hybrid path optimization algorithm for the gravitational and particle swarm,and applies the proposed optimization algorithm to the three-dimensional path planning of solar power station,and the numerical simulation results show that the particle swarm optimization algorithm solves the problem of collision easily with obstacles in global path planning.And it is easy to fall into the disadvantage of local minimum value,which improves the accuracy of search path.The research work of this paper provides some engineering application reference for the future use of mobile robot in solar cleaning operation environment modeling and path planning.