scholarly journals Automatic Boundary Extraction for Photovoltaic Plants Using the Deep Learning U-Net Model

2021 ◽  
Vol 11 (14) ◽  
pp. 6524
Author(s):  
Andrés Pérez-González ◽  
Álvaro Jaramillo-Duque ◽  
Juan Bernardo Cano-Quintero
Keyword(s):  
Research Work ◽  
Solar Photovoltaic ◽  
Boundary Extraction ◽  
Pv Systems ◽  
Periodic Maintenance ◽  
Planning Algorithm ◽  
Extraction Processes ◽  
Inspection And Maintenance ◽  
Photovoltaic Plants ◽  
Path Planning Algorithm

Nowadays, the world is in a transition towards renewable energy solar being one of the most promising sources used today. However, Solar Photovoltaic (PV) systems present great challenges for their proper performance such as dirt and environmental conditions that may reduce the output energy of the PV plants. For this reason, inspection and periodic maintenance are essential to extend useful life. The use of unmanned aerial vehicles (UAV) for inspection and maintenance of PV plants favor a timely diagnosis. UAV path planning algorithm over a PV facility is required to better perform this task. Therefore, it is necessary to explore how to extract the boundary of PV facilities with some techniques. This research work focuses on an automatic boundary extraction method of PV plants from imagery using a deep neural network model with a U-net structure. The results obtained were evaluated by comparing them with other reported works. Additionally, to achieve the boundary extraction processes, the standard metrics Intersection over Union (IoU) and the Dice Coefficient (DC) were considered to make a better conclusion among all methods. The experimental results evaluated on the Amir dataset show that the proposed approach can significantly improve the boundary and segmentation performance in the test stage up to 90.42% and 91.42% as calculated by IoU and DC metrics, respectively. Furthermore, the training period was faster. Consequently, it is envisaged that the proposed U-Net model will be an advantage in remote sensing image segmentation.

scholarly journals Design and Experimental Evaluation of an Aerial Solution for Visual Inspection of Tunnel-like Infrastructures

2022 ◽  
Vol 14 (1) ◽  
pp. 195
Author(s):  
Bianca Bendris ◽  
Julián Cayero Becerra
Keyword(s):  
Visual Inspection ◽  
Surface Coverage ◽  
State Of The Art ◽  
Visual Examination ◽  
Railway Tunnel ◽  
Trajectory Length ◽  
Planning Algorithm ◽  
Inspection And Maintenance ◽  
Path Planning Algorithm

Current railway tunnel inspections rely on expert operators performing a visual examination of the entire infrastructure and manually annotating encountered defects. Automatizing the inspection and maintenance task of such critical and aging infrastructures has the potential to decrease the associated costs and risks. Contributing to this aim, the present work describes an aerial robotic solution designed to perform autonomous inspections of tunnel-like infrastructures. The proposed robotic system is equipped with visual and thermal sensors and uses an inspection-driven path planning algorithm to generate a path that maximizes the quality of the gathered data in terms of photogrammetry goals while optimizing the surface coverage and the total trajectory length. The performance of the planning algorithm is demonstrated in simulation against state-of-the-art methods and a wall-following inspection trajectory. Results of a real inspection test conducted in a railway tunnel are also presented, validating the whole system operation.

scholarly journals A new method on motion planning for mobile robots using jump point search and Bezier curves

2021 ◽  
Vol 18 (4) ◽  
pp. 172988142110192
Author(s):  
Ben Zhang ◽  
Denglin Zhu
Keyword(s):  
Motion Planning ◽  
Initial Point ◽  
Target Point ◽  
Jump Point ◽  
Bezier Curves ◽  
Bézier Curves ◽  
Front End ◽  
Planning Algorithm ◽  
Point Search ◽  
Path Planning Algorithm

Innovative applications in rapidly evolving domains such as robotic navigation and autonomous (driverless) vehicles rely on motion planning systems that meet the shortest path and obstacle avoidance requirements. This article proposes a novel path planning algorithm based on jump point search and Bezier curves. The proposed algorithm consists of two main steps. In the front end, the improved heuristic function based on distance and direction is used to reduce the cost, and the redundant turning points are trimmed. In the back end, a novel trajectory generation method based on Bezier curves and a straight line is proposed. Our experimental results indicate that the proposed algorithm provides a complete motion planning solution from the front end to the back end, which can realize an optimal trajectory from the initial point to the target point used for robot navigation.

scholarly journals A 2D Optimal Path Planning Algorithm for Autonomous Underwater Vehicle Driving in Unknown Underwater Canyons

2021 ◽  
Vol 9 (3) ◽  
pp. 252
Author(s):  
Yushan Sun ◽  
Xiaokun Luo ◽  
Xiangrui Ran ◽  
Guocheng Zhang
Keyword(s):  
Path Planning ◽  
Obstacle Avoidance ◽  
Autonomous Underwater Vehicles ◽  
Optimal Path ◽  
Small Scale ◽  
Target Point ◽  
Safe Driving ◽  
Policy Gradient ◽  
Planning Algorithm ◽  
Path Planning Algorithm

This research aims to solve the safe navigation problem of autonomous underwater vehicles (AUVs) in deep ocean, which is a complex and changeable environment with various mountains. When an AUV reaches the deep sea navigation, it encounters many underwater canyons, and the hard valley walls threaten its safety seriously. To solve the problem on the safe driving of AUV in underwater canyons and address the potential of AUV autonomous obstacle avoidance in uncertain environments, an improved AUV path planning algorithm based on the deep deterministic policy gradient (DDPG) algorithm is proposed in this work. This method refers to an end-to-end path planning algorithm that optimizes the strategy directly. It takes sensor information as input and driving speed and yaw angle as outputs. The path planning algorithm can reach the predetermined target point while avoiding large-scale static obstacles, such as valley walls in the simulated underwater canyon environment, as well as sudden small-scale dynamic obstacles, such as marine life and other vehicles. In addition, this research aims at the multi-objective structure of the obstacle avoidance of path planning, modularized reward function design, and combined artificial potential field method to set continuous rewards. This research also proposes a new algorithm called deep SumTree-deterministic policy gradient algorithm (SumTree-DDPG), which improves the random storage and extraction strategy of DDPG algorithm experience samples. According to the importance of the experience samples, the samples are classified and stored in combination with the SumTree structure, high-quality samples are extracted continuously, and SumTree-DDPG algorithm finally improves the speed of the convergence model. Finally, this research uses Python language to write an underwater canyon simulation environment and builds a deep reinforcement learning simulation platform on a high-performance computer to conduct simulation learning training for AUV. Data simulation verified that the proposed path planning method can guide the under-actuated underwater robot to navigate to the target without colliding with any obstacles. In comparison with the DDPG algorithm, the stability, training’s total reward, and robustness of the improved Sumtree-DDPG algorithm planner in this study are better.

Dynamic Path Planning Algorithm Based on Chaos Genetic Vehicle Navigation

2011 ◽  
Vol 142 ◽  
pp. 12-15
Author(s):  
Ping Feng
Keyword(s):  
Path Planning ◽  
Search Algorithm ◽  
Traffic Condition ◽  
Planning Time ◽  
Dynamic Path Planning ◽  
Short Period ◽  
Planning Algorithm ◽  
Dynamic Path ◽  
Path Planning Algorithm ◽  
Chaos Genetic Algorithm

The paper puts forward the dynamic path planning algorithm based on improving chaos genetic algorithm by using genetic algorithms and chaos search algorithm. In the practice of navigation, the algorithm can compute at the best path to meet the needs of the navigation in such a short period of planning time. Furthermore,this algorithm can replan a optimum path of the rest paths after the traffic condition in the sudden.

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