Journal of Shanghai Jiao Tong University ›› 2021, Vol. 55 ›› Issue (9): 1169-1174.doi: 10.16183/j.cnki.jsjtu.2020.254

Special Issue: 《上海交通大学学报》2021年12期专题汇总专辑 《上海交通大学学报》2021年“自动化技术、计算机技术”专题

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Hierarchical Mission Planning for Cleaning Photovoltaic Panels Based on Improved Genetic Algorithm

LI Cuiming(), WANG Ning, ZHANG Chen   

  1. School of Mechanical and Electronical Engineering, Lanzhou University of Technology, Lanzhou 730050, China
  • Received:2020-08-14 Online:2021-09-28 Published:2021-10-08


Aimed at the mission planning for cleaning photovoltaic panels in large-area photovoltaic plants with mobile cleaning robots, a district planning strategy is hereby proposed. The photovoltaic plants, considering the position of wind gaps, the illumination time, and other environmental factors, adopt a hierarchical mission planning based on the cleaning priority, and use the Hamilton graph to turn the cleaning problem of photovoltaic panels into a travelling salesman problem (TSP). Considering the disadvantages of low efficiency and early convergence of the genetic algorithm, an improved genetic algorithm, which includes the hybrid selection operator combining the tournament selection with the roulette wheel selection and the crossover operator based on the segmentation rule is thus put forward. The improved genetic algorithm is applied to plan the cleaning order of robots to clean the photovoltaic panels. The experimental results show that in comparison with the adaptive genetic algorithm, the improved genetic algorithm has a higher efficiency and better results.

Key words: photovoltaic plants, cleaning robot, mission planning, genetic algorithm, travelling salesman problem (TSP)

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